Add sitl helicopter model

Use  control allocation helicopter
Set yaw ccw
Simplify swashplate geometry

ROMFS/px4fmu_common/init.d-posix/airframes/1080_helicopter

@@ -0,0 +1,34 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+. ${R}etc/init.d/rc.heli_defaults
+
+
+# Disable PID gains for initial setup. These should be enabled after setting the FF gain.
+# P is expected to be lower than FF.
+param set-default MC_ROLLRATE_P 0
+param set-default MC_ROLLRATE_I 0
+param set-default MC_ROLLRATE_D 0
+param set-default MC_ROLLRATE_FF 0.1
+param set-default MC_PITCHRATE_P 0
+param set-default MC_PITCHRATE_I 0
+param set-default MC_PITCHRATE_D 0
+param set-default MC_PITCHRATE_FF 0.1
+
+param set-default CA_AIRFRAME 10
+param set-default CA_HELI_YAW_CCW 1
+param set-default CA_SP0_ANG0 0
+param set-default CA_SP0_ANG1 120
+param set-default CA_SP0_ANG2 240
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 201
+param set-default PWM_MAIN_FUNC4 202
+param set-default PWM_MAIN_FUNC5 203

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -71,6 +71,7 @@ px4_add_romfs_files(
 	1061_r1_rover
 	1062_tf-r1
 	1070_boat
+	1080_helicopter
 	3010_quadrotor_x
 	3011_hexarotor_x
 

src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake

@@ -68,6 +68,7 @@ set(models
 	boat
 	cloudship
 	glider
+	helicopter
 	iris
 	iris_dual_gps
 	iris_foggy_lidar