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Multi-Vehicle Ignition Gazebo Simulation (#20154)

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This commit is contained in:
Benjamin Perseghetti
2022-09-04 21:10:29 -04:00
committed by GitHub
parent 7bbdc220f5
commit a56f654651
54 changed files with 727 additions and 18221 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/6001_x4
-80
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@@ -1,80 +0,0 @@
#!/bin/sh
#
# @name Ignition Gazebo X4
#
# @type Quadrotor
#
. ${R}etc/init.d/rc.mc_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x4}
PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
param set-default SYS_CTRL_ALLOC 1
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 6
param set-default CA_ROTOR0_PX 0.25
param set-default CA_ROTOR0_PY -0.15
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX 0.00
param set-default CA_ROTOR1_PY -0.29
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR2_PX -0.25
param set-default CA_ROTOR2_PY -0.15
param set-default CA_ROTOR2_KM 0.05
param set-default CA_ROTOR3_PX -0.25
param set-default CA_ROTOR3_PY 0.15
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX 0.00
param set-default CA_ROTOR4_PY 0.29
param set-default CA_ROTOR4_KM 0.05
param set-default CA_ROTOR5_PX 0.25
param set-default CA_ROTOR5_PY 0.15
param set-default CA_ROTOR5_KM -0.05
param set-default SIM_IGN_FUNC1 101
param set-default SIM_IGN_FUNC2 102
param set-default SIM_IGN_FUNC3 103
param set-default SIM_IGN_FUNC4 104
param set-default SIM_IGN_FUNC5 105
param set-default SIM_IGN_FUNC6 106
param set-default SIM_IGN_MIN1 150
param set-default SIM_IGN_MIN2 150
param set-default SIM_IGN_MIN3 150
param set-default SIM_IGN_MIN4 150
param set-default SIM_IGN_MIN5 150
param set-default SIM_IGN_MIN6 150
param set-default SIM_IGN_MAX1 1000
param set-default SIM_IGN_MAX2 1000
param set-default SIM_IGN_MAX3 1000
param set-default SIM_IGN_MAX4 1000
param set-default SIM_IGN_MAX5 1000
param set-default SIM_IGN_MAX6 1000
param set-default MC_PITCHRATE_D 0.0016
param set-default MC_PITCHRATE_I 0.2500
param set-default MC_PITCHRATE_P 0.1831
param set-default MC_PITCH_P 5.216
param set-default MC_ROLLRATE_D 0.0022
param set-default MC_ROLLRATE_I 0.2095
param set-default MC_ROLLRATE_P 0.1570
param set-default MC_ROLL_P 6.081
param set-default MC_YAWRATE_D 0.0009
param set-default MC_YAWRATE_I 0.1800
param set-default MC_YAWRATE_P 0.1773
param set-default MC_YAW_P 5.386490
param set-default MPC_THR_HOVER 0.61
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
-1
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@@ -79,7 +79,6 @@ px4_add_romfs_files(
17002_tf-g2
2507_cloudship
6001_x4
6011_typhoon_h480
6011_typhoon_h480.post
)