diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_foxtech_loong_2160 b/ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_foxtech_loong_2160 new file mode 100644 index 0000000000..7309c5dac2 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_foxtech_loong_2160 @@ -0,0 +1,102 @@ +#!/bin/sh +# +# @name Foxtech Loong +# +# @type Standard VTOL +# + +. ${R}etc/init.d/rc.vtol_defaults + +PX4_SIMULATOR=${PX4_SIMULATOR:=gz} +PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} +PX4_SIM_MODEL=${PX4_SIM_MODEL:=foxtech_loong_2160} + +# TODO: Enable motor failure detection when the +# VTOL no longer reports 0A for all ESCs in SITL +param set-default FD_ACT_EN 0 +param set-default FD_ACT_MOT_TOUT 500 + +param set-default CA_AIRFRAME 2 + +param set-default CA_ROTOR_COUNT 5 +param set-default CA_ROTOR0_PX 0.1515 +param set-default CA_ROTOR0_PY 0.245 +param set-default CA_ROTOR0_KM 0.05 +param set-default CA_ROTOR1_PX -0.1515 +param set-default CA_ROTOR1_PY -0.1875 +param set-default CA_ROTOR1_KM 0.05 +param set-default CA_ROTOR2_PX 0.1515 +param set-default CA_ROTOR2_PY -0.245 +param set-default CA_ROTOR2_KM -0.05 +param set-default CA_ROTOR3_PX -0.1515 +param set-default CA_ROTOR3_PY 0.1875 +param set-default CA_ROTOR3_KM -0.05 +param set-default CA_ROTOR4_AX 1.0 +param set-default CA_ROTOR4_AZ 0.0 +param set-default CA_ROTOR4_PX 0.2 + +param set-default SIM_GZ_EC_FUNC1 101 +param set-default SIM_GZ_EC_MIN1 0 +param set-default SIM_GZ_EC_MAX1 1500 +param set-default SIM_GZ_EC_FUNC2 102 +param set-default SIM_GZ_EC_MIN2 0 +param set-default SIM_GZ_EC_MAX2 1500 +param set-default SIM_GZ_EC_FUNC3 103 +param set-default SIM_GZ_EC_MIN3 0 +param set-default SIM_GZ_EC_MAX3 1500 +param set-default SIM_GZ_EC_FUNC4 104 +param set-default SIM_GZ_EC_MIN4 0 +param set-default SIM_GZ_EC_MAX4 1500 + +param set-default SIM_GZ_EC_FUNC5 105 +param set-default SIM_GZ_EC_MIN5 0 +param set-default SIM_GZ_EC_MAX5 3500 + +param set-default SIM_GZ_SV_FUNC1 201 +param set-default SIM_GZ_SV_FUNC2 202 +param set-default SIM_GZ_SV_FUNC3 203 + +param set-default COM_RC_IN_MODE 1 +param set-default ASPD_PRIMARY 1 + +param set-default CA_SV_CS_COUNT 3 +param set-default CA_SV_CS0_TYPE 1 +param set-default CA_SV_CS0_TRQ_R -0.5 +param set-default CA_SV_CS1_TYPE 2 +param set-default CA_SV_CS1_TRQ_R 0.5 +param set-default CA_SV_CS2_TYPE 3 +param set-default CA_SV_CS2_TRQ_P 1.0 + +param set-default FW_L1_PERIOD 12 +param set-default FW_PR_FF 0.2 +param set-default FW_PR_P 0.9 +param set-default FW_PSP_OFF 2 +param set-default FW_P_LIM_MIN -15 +param set-default FW_RR_FF 0.1 +param set-default FW_RR_P 0.3 +param set-default FW_THR_TRIM 0.25 +param set-default FW_THR_MAX 0.6 +param set-default FW_THR_MIN 0.05 +param set-default FW_T_CLMB_MAX 8 +param set-default FW_T_SINK_MAX 2.7 +param set-default FW_T_SINK_MIN 2.2 + +param set-default MC_AIRMODE 1 +param set-default MC_ROLLRATE_P 0.3 +param set-default MC_YAW_P 1.6 + +param set-default MIS_TAKEOFF_ALT 10 + +param set-default MPC_ACC_HOR_MAX 2 +param set-default MPC_XY_P 0.8 +param set-default MPC_XY_VEL_P_ACC 3 +param set-default MPC_XY_VEL_I_ACC 4 +param set-default MPC_XY_VEL_D_ACC 0.1 + +param set-default NAV_ACC_RAD 5 + +param set-default VT_FWD_THRUST_EN 4 +param set-default VT_F_TRANS_THR 0.75 +param set-default VT_B_TRANS_DUR 8 +param set-default VT_TYPE 2 +param set-default FD_ESCS_EN 0 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt index b251d019e1..74919e7bfc 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt @@ -74,6 +74,7 @@ px4_add_romfs_files( 4002_gz_x500_depth 4003_gz_rc_cessna 4004_gz_standard_vtol + 4005_gz_foxtech_loong_2160 6011_gazebo-classic_typhoon_h480 6011_gazebo-classic_typhoon_h480.post diff --git a/Tools/simulation/gz/models/foxtech_loong_2160/meshes/VTOL.dae b/Tools/simulation/gz/models/foxtech_loong_2160/meshes/VTOL.dae new file mode 100644 index 0000000000..9c797ea964 --- /dev/null +++ b/Tools/simulation/gz/models/foxtech_loong_2160/meshes/VTOL.dae @@ -0,0 +1,7761 @@ + + + + + + FBX COLLADA exporter + + + 2023-02-07T22:19:17Z + + 2023-02-07T22:19:17Z + + + + <unit meter="0.010000" name="centimeter"/> + <up_axis>Z_UP</up_axis> + </asset> + <library_materials> + <material id="FBXASC0481FBXASC032-FBXASC032Default" name="FBXASC0481FBXASC032-FBXASC032Default"> + <instance_effect url="#FBXASC0481FBXASC032-FBXASC032Default-fx"/> + </material> + </library_materials> + <library_effects> + <effect id="FBXASC0481FBXASC032-FBXASC032Default-fx" name="FBXASC0481FBXASC032-FBXASC032Default"> + <profile_COMMON> + <technique sid="standard"> + <phong> + <emission> + <color sid="emission">0.000000 0.000000 0.000000 1.000000</color> + </emission> + <ambient> + <color sid="ambient">0.588235 0.588235 0.588235 1.000000</color> + </ambient> + <diffuse> + <color 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+ <joint name="servo_3" type="revolute"> + <parent>base_link</parent> + <child>rudder_link</child> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-0.53</lower> + <upper>0.53</upper> + </limit> + <dynamics> + <damping>1.000</damping> + </dynamics> + </axis> + </joint> + <link name="rotor_3"> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <pose>-0.403 -0.427 0.083 0 0 -1.57</pose> + <inertial> + <mass>0.016076923076923075</mass> + <inertia> + <ixx>3.8464910483993325e-07</ixx> + <iyy>2.6115851691700804e-05</iyy> + <izz>2.649858234714004e-05</izz> + </inertia> + </inertial> + <visual name="rotor_3_visual"> + <geometry> + <mesh> + <uri>model://foxtech_loong_2160/meshes/propeller_ccw.dae</uri> + </mesh> + </geometry> + </visual> + <collision name="rotor_3_collision"> + <geometry> + <box> + <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size> + </box> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + </link> + <joint name="rotor_0_joint" type="revolute"> + <parent>base_link</parent> + <child>rotor_0</child> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name="rotor_2"> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <pose>0.403 0.427 0.083 0 0 -1.57</pose> + <inertial> + <mass>0.016076923076923075</mass> + <inertia> + <ixx>3.8464910483993325e-07</ixx> + <iyy>2.6115851691700804e-05</iyy> + <izz>2.649858234714004e-05</izz> + </inertia> + </inertial> + <visual name="rotor_2_visual"> + <geometry> + <mesh> + <uri>model://foxtech_loong_2160/meshes/propeller_ccw.dae</uri> + </mesh> + </geometry> + </visual> + <collision name="rotor_2_collision"> + <geometry> + <box> + <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size> + </box> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + </link> + <joint name="rotor_1_joint" type="revolute"> + <parent>base_link</parent> + <child>rotor_1</child> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name="rotor_0"> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <pose>0.403 -0.427 0.083 0 0 -1.57</pose> + <inertial> + <mass>0.016076923076923075</mass> + <inertia> + <ixx>3.8464910483993325e-07</ixx> + <iyy>2.6115851691700804e-05</iyy> + <izz>2.649858234714004e-05</izz> + </inertia> + </inertial> + <visual name="rotor_0_visual"> + <geometry> + <mesh> + <uri>model://foxtech_loong_2160/meshes/propeller_cw.dae</uri> + </mesh> + </geometry> + </visual> + <collision name="rotor_0_collision"> + <geometry> + <box> + <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size> + </box> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + </link> + <joint name="rotor_2_joint" type="revolute"> + <parent>base_link</parent> + <child>rotor_2</child> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name="rotor_1"> + <gravity>true</gravity> + <self_collide>false</self_collide> + <velocity_decay/> + <pose>-0.403 0.427 0.083 0 0 -1.57</pose> + <inertial> + <mass>0.016076923076923075</mass> + <inertia> + <ixx>3.8464910483993325e-07</ixx> + <iyy>2.6115851691700804e-05</iyy> + <izz>2.649858234714004e-05</izz> + </inertia> + </inertial> + <visual name="rotor_1_visual"> + <geometry> + <mesh> + <uri>model://foxtech_loong_2160/meshes/propeller_cw.dae</uri> + </mesh> + </geometry> + </visual> + <collision name="rotor_1_collision"> + <geometry> + <box> + <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size> + </box> + </geometry> + <surface> + <contact> + <ode> + <min_depth>0.001</min_depth> + <max_vel>0</max_vel> + </ode> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + </link> + <joint name="rotor_3_joint" type="revolute"> + <parent>base_link</parent> + <child>rotor_3</child> + <axis> + <xyz>0 0 1</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='rotor_puller'> + <pose>0.379 0.0 0.0 -1.57 1.57 -1.57</pose> + <inertial> + <pose>0 0 0 0 0 0</pose> + <mass>0.005</mass> + <inertia> + <ixx>9.75e-07</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000166704</iyy> + <iyz>0</iyz> + <izz>0.000167604</izz> + </inertia> + </inertial> + <collision name='rotor_puller_collision'> + <geometry> + <cylinder> + <length>0.005</length> + <radius>0.06</radius> + </cylinder> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode/> + </friction> + </surface> + </collision> + <visual name='rotor_puller_visual'> + <geometry> + <mesh> + <uri>model://foxtech_loong_2160/meshes/propeller_cw.dae</uri> + </mesh> + </geometry> + </visual> + <gravity>1</gravity> + <velocity_decay/> + <self_collide>0</self_collide> + </link> + <joint name='rotor_puller_joint' type='revolute'> + <pose>0.0 0 0.0 0 -1.57 0</pose> + <child>rotor_puller</child> + <parent>base_link</parent> + <axis> + <xyz>1 0 0</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_0_joint</jointName> + <linkName>rotor_0</linkName> + <turningDirection>ccw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>0</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <!-- <plugin name='back_left_motor_model' filename='libgazebo_motor_model.so'> --> + <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_1_joint</jointName> + <linkName>rotor_1</linkName> + <turningDirection>ccw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>1</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin + filename="gz-sim-multicopter-motor-model-system" + name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_2_joint</jointName> + <linkName>rotor_2</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>2</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin + filename="gz-sim-multicopter-motor-model-system" + name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_3_joint</jointName> + <linkName>rotor_3</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>1500</maxRotVelocity> + <motorConstant>2e-05</motorConstant> + <momentConstant>0.06</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>3</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin + filename="gz-sim-multicopter-motor-model-system" + name="gz::sim::systems::MulticopterMotorModel"> + <jointName>rotor_puller_joint</jointName> + <linkName>rotor_puller</linkName> + <turningDirection>cw</turningDirection> + <timeConstantUp>0.0125</timeConstantUp> + <timeConstantDown>0.025</timeConstantDown> + <maxRotVelocity>3500</maxRotVelocity> + <motorConstant>8.54858e-06</motorConstant> + <momentConstant>0.01</momentConstant> + <commandSubTopic>command/motor_speed</commandSubTopic> + <motorNumber>4</motorNumber> + <rotorDragCoefficient>0.000106428</rotorDragCoefficient> + <rollingMomentCoefficient>1e-06</rollingMomentCoefficient> + <rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim> + <motorType>velocity</motorType> + </plugin> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.05 0.45 0.05</cp> + <area>0.6</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_0</control_joint_name> + <control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_0</joint_name> + <sub_topic>servo_0</sub_topic> + <p_gain>10.0</p_gain> + </plugin> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.05984281113</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.05 -0.45 0.05</cp> + <area>0.6</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_1</control_joint_name> + <control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_1</joint_name> + <sub_topic>servo_1</sub_topic> + <p_gain>10.0</p_gain> + </plugin> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>-0.2</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.5 0 0</cp> + <area>0.01</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 0 1</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_2</control_joint_name> + <control_joint_rad_to_cl>-4.0</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_2</joint_name> + <sub_topic>servo_2</sub_topic> + <p_gain>10.0</p_gain> + </plugin> + <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> + <a0>0.0</a0> + <cla>4.752798721</cla> + <cda>0.6417112299</cda> + <cma>0.0.</cma> + <alpha_stall>0.3391428111</alpha_stall> + <cla_stall>-3.85</cla_stall> + <cda_stall>-0.9233984055</cda_stall> + <cma_stall>0</cma_stall> + <cp>-0.5 0 0.05</cp> + <area>0.02</area> + <air_density>1.2041</air_density> + <forward>1 0 0</forward> + <upward>0 1 0</upward> + <link_name>base_link</link_name> + <control_joint_name>servo_3</control_joint_name> + <control_joint_rad_to_cl>0.8</control_joint_rad_to_cl> + </plugin> + <plugin + filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> + <joint_name>servo_3</joint_name> + <sub_topic>servo_3</sub_topic> + <p_gain>10.0</p_gain> + </plugin> + </model> +</sdf> diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp index db8bc6c69b..5577c79fd2 100644 --- a/src/modules/simulation/gz_bridge/GZBridge.cpp +++ b/src/modules/simulation/gz_bridge/GZBridge.cpp @@ -185,6 +185,7 @@ int GZBridge::task_spawn(int argc, char *argv[]) const char *model_pose = nullptr; const char *model_sim = nullptr; const char *px4_instance = nullptr; + std::string model_name_std; bool error_flag = false; @@ -248,7 +249,7 @@ int GZBridge::task_spawn(int argc, char *argv[]) } } else if (!model_name) { - std::string model_name_std = std::string(model_sim) + "_" + std::string(px4_instance); + model_name_std = std::string(model_sim) + "_" + std::string(px4_instance); model_name = model_name_std.c_str(); }