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Add techpod SITL Gazebo target (#15919)

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* Add techpod SITL target

This adds a SITL target forthe techpod fixedwing model

* Update sitl_gazebo submoudle

This submodule update includes the techpod UAV model
This commit is contained in:
JaeyoungLim 2020-10-09 16:20:01 +02:00 committed by GitHub
parent 274ccaf57c
commit 85e8c4801b
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 50 additions and 2 deletions
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47
ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod Normal file
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@ -0,0 +1,47 @@
#!/bin/sh
#
# @name Plane SITL
#
sh /etc/init.d/rc.fw_defaults
if [ $AUTOCNF = yes ]
then
param set EKF2_ARSP_THR 8
param set EKF2_FUSE_BETA 1
param set EKF2_MAG_ACCLIM 0
param set EKF2_MAG_YAWLIM 0
param set FW_LND_AIRSPD_SC 1
param set FW_LND_ANG 8
param set FW_THR_LND_MAX 0
param set FW_L1_PERIOD 15
param set FW_P_TC 0.5
param set FW_PR_FF 0.40
param set FW_PR_I 0.05
param set FW_PR_P 0.05
param set FW_R_TC 0.7
param set FW_RR_FF 0.20
param set FW_RR_I 0.02
param set FW_RR_P 0.22
param set FW_L1_PERIOD 12
param set FW_W_EN 1
param set MIS_LTRMIN_ALT 30
param set MIS_TAKEOFF_ALT 30
param set NAV_ACC_RAD 15
param set NAV_DLL_ACT 2
param set NAV_LOITER_RAD 50
param set RWTO_TKOFF 1
fi
set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
set MIXER custom

1
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
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@ -57,6 +57,7 @@ px4_add_romfs_files(
1033_plane_lidar
1033_rascal
1034_rascal-electric
1035_techpod
1040_standard_vtol
1041_tailsitter
1042_tiltrotor

2
Tools/sitl_gazebo

@ -1 +1 @@
Subproject commit e4e32117df1d8aba00b0685ebd0cc5ffc066a970
Subproject commit c3b15b7c9bf217c52f1e12fda0f861f6af5f31a9

2
platforms/posix/cmake/sitl_target.cmake
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@ -93,7 +93,7 @@ set(viewers none jmavsim gazebo)
set(debuggers none ide gdb lldb ddd valgrind callgrind)
set(models none shell
if750a iris iris_dual_gps iris_opt_flow iris_opt_flow_mockup iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps px4vision solo typhoon_h480
plane plane_cam plane_catapult plane_lidar
plane plane_cam plane_catapult plane_lidar techpod
standard_vtol tailsitter tiltrotor
rover r1_rover boat cloudship
uuv_hippocampus)