From 92e75452f572901aaa2f69b0b56ff7a62729bd06 Mon Sep 17 00:00:00 2001 From: kritz Date: Wed, 29 Jan 2020 14:06:46 +0100 Subject: [PATCH] Flow mockup (#14054) * Add optical flow mockup model * Update Tools.sitl_gazebo --- .../init.d-posix/1017_iris_opt_flow_mockup | 21 +++++++++++++++++++ Tools/sitl_gazebo | 2 +- platforms/posix/cmake/sitl_target.cmake | 2 +- 3 files changed, 23 insertions(+), 2 deletions(-) create mode 100644 ROMFS/px4fmu_common/init.d-posix/1017_iris_opt_flow_mockup diff --git a/ROMFS/px4fmu_common/init.d-posix/1017_iris_opt_flow_mockup b/ROMFS/px4fmu_common/init.d-posix/1017_iris_opt_flow_mockup new file mode 100644 index 0000000000..324de3efe1 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/1017_iris_opt_flow_mockup @@ -0,0 +1,21 @@ +#!/bin/sh +# +# @name 3DR Iris Quadrotor SITL (Optical Flow) +# +# @type Quadrotor Wide +# + +sh /etc/init.d-posix/10016_iris + +if [ $AUTOCNF = yes ] +then + # EKF2 + param set EKF2_AID_MASK 2 + param set SENS_FLOW_ROT 0 + + # LPE: Flow-only mode + param set LPE_FUSION 242 + param set LPE_FAKE_ORIGIN 1 + + param set MPC_ALT_MODE 2 +fi diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo index 3d152f028b..029722989e 160000 --- a/Tools/sitl_gazebo +++ b/Tools/sitl_gazebo @@ -1 +1 @@ -Subproject commit 3d152f028bbe47229602a1a34a2e8fe322504357 +Subproject commit 029722989e945f0a78d5a2322788b34a3ca99ab6 diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake index dbfda49725..9673131915 100644 --- a/platforms/posix/cmake/sitl_target.cmake +++ b/platforms/posix/cmake/sitl_target.cmake @@ -61,7 +61,7 @@ ExternalProject_Add(mavsdk_tests set(viewers none jmavsim gazebo) set(debuggers none ide gdb lldb ddd valgrind callgrind) set(models none shell - if750a iris iris_opt_flow iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps solo typhoon_h480 + if750a iris iris_opt_flow iris_opt_flow_mockup iris_vision iris_rplidar iris_irlock iris_obs_avoid iris_rtps solo typhoon_h480 plane standard_vtol tailsitter tiltrotor hippocampus rover)