From 65ada8fc112bd89caf38da082c891fab8be8a235 Mon Sep 17 00:00:00 2001 From: Benjamin Perseghetti Date: Thu, 26 Jan 2023 18:52:41 -0500 Subject: [PATCH] Fix FD params issues. Signed-off-by: Benjamin Perseghetti --- .../airframes/4004_gz_standard_vtol | 1 + .../airframes/4005_gz_foxtech_loong_2160 | 20 +-- .../gz/models/foxtech_loong_2160/model.sdf | 4 +- .../gz/models/standard_vtol/model.sdf | 124 +----------------- src/modules/simulation/gz_bridge/GZBridge.cpp | 3 +- 5 files changed, 17 insertions(+), 135 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol index 76bf9ecea6..bcb29ea1a9 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol @@ -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 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 index 8bea5312a2..741d021da4 100644 --- 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 @@ -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 diff --git a/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf b/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf index 0a2a9e53e8..c3181d8388 100644 --- a/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf +++ b/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf @@ -33,7 +33,7 @@ 250 - + 0 0 0 0 0 0 0 0 0 0 0 0 @@ -73,7 +73,7 @@ - airspeed + airspeed_link base_link diff --git a/Tools/simulation/gz/models/standard_vtol/model.sdf b/Tools/simulation/gz/models/standard_vtol/model.sdf index 6867939440..86c5298334 100644 --- a/Tools/simulation/gz/models/standard_vtol/model.sdf +++ b/Tools/simulation/gz/models/standard_vtol/model.sdf @@ -1,6 +1,6 @@ - + 0 0 0.246 0 0 0 @@ -556,34 +556,6 @@ - - - 0.00000001 - - 0.000001 - 0.0 - 0.000001 - 0.0 - 0.0 - 0.000001 - - -0.5 0 0 0.00 0 0.0 - - - - - 0.00000001 - - 0.000001 - 0.0 - 0.000001 - 0.0 - 0.0 - 0.000001 - - -0.5 0 0.05 0 0 0 - - base_link left_elevon @@ -591,7 +563,6 @@ 0 1 0 - -0.53 0.53 @@ -612,7 +583,6 @@ 0 1 0 - -0.53 0.53 @@ -626,48 +596,7 @@ - - base_link - elevator - -0.5 0 0 0 0 0 - - 0 1 0 - - -0.53 - 0.53 - - - 1.000 - - - - - 1 - - - - - base_link - rudder - -0.5 0 0.05 0.00 0 0.0 - - 1 0 0 - - -0.01 - 0.01 - - - 1.000 - - - - - 1 - - - - 0.05984281113 4.752798721 0.6417112299 @@ -690,7 +619,6 @@ servo_0 servo_0 - 0.05984281113 4.752798721 @@ -714,52 +642,6 @@ servo_1 servo_1 - - -0.2 - 4.752798721 - 0.6417112299 - 0.0 - 0.3391428111 - -3.85 - -0.9233984055 - 0 - -0.5 0 0 - 0.01 - 1.2041 - 1 0 0 - 0 0 1 - base_link - servo_2 - -12.0 - - - servo_2 - servo_2 - - - 0.0 - 4.752798721 - 0.6417112299 - 0.0. - 0.3391428111 - -3.85 - -0.9233984055 - 0 - -0.5 0 0.05 - 0.02 - 1.2041 - 1 0 0 - 0 1 0 - base_link - servo_3 - - - servo_3 - servo_3 - - rotor_0_joint rotor_0 @@ -776,7 +658,6 @@ 20 velocity - rotor_1_joint rotor_1 @@ -793,7 +674,6 @@ 20 velocity - @@ -812,7 +692,6 @@ 20 velocity - @@ -831,7 +710,6 @@ 20 velocity - diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp index 9af8843411..146d03004b 100644 --- a/src/modules/simulation/gz_bridge/GZBridge.cpp +++ b/src/modules/simulation/gz_bridge/GZBridge.cpp @@ -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(); }