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Fix FD params issues.

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Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
This commit is contained in:
Benjamin Perseghetti
2023-01-26 18:52:41 -05:00
parent a1090bbf9d
commit 65ada8fc11
5 changed files with 17 additions and 135 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
+1
View File
@@ -107,3 +107,4 @@ 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
ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_foxtech_loong_2160
+11 -9
View File
@@ -36,20 +36,21 @@ 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 1000
param set-default SIM_GZ_EC_MIN1 10
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 1000
param set-default SIM_GZ_EC_MIN2 10
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 1000
param set-default SIM_GZ_EC_MIN3 10
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 1000
param set-default SIM_GZ_EC_MIN4 10
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 1000
param set-default SIM_GZ_EC_MAX5 3500
param set-default SIM_GZ_SV_FUNC1 201
param set-default SIM_GZ_SV_FUNC2 202
@@ -106,3 +107,4 @@ 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
Tools/simulation/gz/models/foxtech_loong_2160/model.sdf
+2 -2
View File
@@ -33,7 +33,7 @@
<update_rate>250</update_rate>
</sensor>
</link>
<link name="airspeed">
<link name="airspeed_link">
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
@@ -73,7 +73,7 @@
</sensor>
</link>
<joint name='airspeed_joint' type='fixed'>
<child>airspeed</child>
<child>airspeed_link</child>
<parent>base_link</parent>
</joint>
<link name="aileron_left_link">
Tools/simulation/gz/models/standard_vtol/model.sdf
+1 -123
View File
@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<!-- DO NOT EDIT: Generated from standard_vtol.sdf.jinja -->
<sdf version='1.5'>
<sdf version='1.9'>
<model name='standard_vtol'>
<pose>0 0 0.246 0 0 0</pose>
<link name='base_link'>
@@ -556,34 +556,6 @@
</material>
</visual>
</link>
<link name="elevator">
<inertial>
<mass>0.00000001</mass>
<inertia>
<ixx>0.000001</ixx>
<ixy>0.0</ixy>
<iyy>0.000001</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.000001</izz>
</inertia>
<pose> -0.5 0 0 0.00 0 0.0</pose>
</inertial>
</link>
<link name="rudder">
<inertial>
<mass>0.00000001</mass>
<inertia>
<ixx>0.000001</ixx>
<ixy>0.0</ixy>
<iyy>0.000001</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.000001</izz>
</inertia>
<pose>-0.5 0 0.05 0 0 0 </pose>
</inertial>
</link>
<joint name='servo_0' type='revolute'>
<parent>base_link</parent>
<child>left_elevon</child>
@@ -591,7 +563,6 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
@@ -612,7 +583,6 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
@@ -626,48 +596,7 @@
</ode>
</physics>
</joint>
<joint name='servo_2' type='revolute'>
<parent>base_link</parent>
<child>elevator</child>
<pose> -0.5 0 0 0 0 0</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<joint name='servo_3' type='revolute'>
<parent>base_link</parent>
<child>rudder</child>
<pose>-0.5 0 0.05 0.00 0 0.0</pose>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.01</lower>
<upper>0.01</upper>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
<!-- <plugin name="left_wing_lift" filename="libLiftDragPlugin.so"> -->
<a0>0.05984281113</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
@@ -690,7 +619,6 @@
<joint_name>servo_0</joint_name>
<sub_topic>servo_0</sub_topic>
</plugin>
<!-- <plugin name="right_wing_lift" filename="libLiftDragPlugin.so"> -->
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
<a0>0.05984281113</a0>
<cla>4.752798721</cla>
@@ -714,52 +642,6 @@
<joint_name>servo_1</joint_name>
<sub_topic>servo_1</sub_topic>
</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>-12.0</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>
</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>
</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>
</plugin>
<!-- <plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'> -->
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
@@ -776,7 +658,6 @@
<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>
@@ -793,7 +674,6 @@
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<!-- <plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'> -->
<plugin
filename="gz-sim-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
@@ -812,7 +692,6 @@
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<!-- <plugin name='back_right_motor_model' filename='libgazebo_motor_model.so'> -->
<plugin
filename="gz-sim-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
@@ -831,7 +710,6 @@
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
<motorType>velocity</motorType>
</plugin>
<!-- <plugin name='puller_motor_model' filename='libgazebo_motor_model.so'> -->
<plugin
filename="gz-sim-multicopter-motor-model-system"
name="gz::sim::systems::MulticopterMotorModel">
src/modules/simulation/gz_bridge/GZBridge.cpp
+2 -1
View File
@@ -184,6 +184,7 @@ 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;
@@ -247,7 +248,7 @@ 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();
}