Gazebo model for the fully-actuated hexarotor added

README.md

@@ -28,7 +28,15 @@ We have tested the firmware only with Pixracer. If you have flash memory issues
 
 More detailed guide will be incrementally added here. Please reach us directly or submit an issue on this repository if you have specific questions, concerns, feedback or bug reports.
 
-The files for the Gazebo simulation model and detailed guide on compiling for SITL will be added here by the end of November 2020.
+To simulate using gazebo, you need to add the model and the world of your fully-actuated UAV to the firmware. Optionally you can modify the model files for our hexarotor (with all arms tilted for 30 degrees). 
+
+To enable simulation for our multirotor, copy the contents of the `world` and `model` folders from `sitl_gazebo_fully_actuated` to the `world` and `model` folders in `Tools/sitl_gazebo`. Now you can run the SITL simulation of our UAV using the following command:
+
+```
+make px4_sitl gazebo_hexa_x_tilt
+```
+
+If you get `gazebo_opticalflow_plugin.h:43:18: error: ‘TRUE’ was not declared in this scope`, simply replace `TRUE` with `true` in `Tools/sitl_gazebo/include/gazebo_opticalflow_plugin.h` line 43.
 
 ### Disclaimer
 

sitl_gazebo_fully_actuated/models/hexa_x_tilt/model.config

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<model>
+  <name>Tilt-Hex</name>
+  <version>1.0</version>
+  <sdf version='1.6'>hexa_x_tilt.sdf</sdf>
+
+  <author>
+   <name>Azarakhsh Keipour</name>
+   <email>keipour@cmu.edu</email>
+  </author>
+
+  <description>
+    This is a model of omnidirectional hexarotor with tilted rotors.
+  </description>
+</model>
+

sitl_gazebo_fully_actuated/worlds/hexa_x_tilt.world

@@ -0,0 +1,52 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <world name="default">
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://hexa_x_tilt</uri>
+    </include>
+    <include>
+      <uri>model://asphalt_plane</uri>
+    </include>
+    <physics name='default_physics' default='0' type='ode'>
+      <gravity>0 0 -9.8066</gravity>
+      <ode>
+        <solver>
+          <type>quick</type>
+          <iters>50</iters>
+          <sor>1.0</sor>
+          <use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
+        </solver>
+        <constraints>
+          <cfm>0</cfm>
+          <erp>0.2</erp>
+          <contact_max_correcting_vel>100</contact_max_correcting_vel>
+          <contact_surface_layer>0.001</contact_surface_layer>
+        </constraints>
+      </ode>
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>250</real_time_update_rate>
+      <magnetic_field>6.0e-6 2.3e-5 -4.2e-5</magnetic_field>
+    </physics>
+    <!-- <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>5.4634 -5.46339 2.17586 0 0.275643 2.35619</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+        <track_visual>
+          <name>iris</name>
+          <use_model_frame>1</use_model_frame>
+        </track_visual>
+      </camera>
+    </gui>
+-->
+  </world>
+</sdf>