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Support quadtailsitter in SITL

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JaeyoungLim 2023-05-29 10:52:33 +02:00 committed by Silvan Fuhrer
parent 6535cc758e
commit e3aea937c3
3 changed files with 73 additions and 0 deletions
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71
ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter Normal file
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@ -0,0 +1,71 @@
#!/bin/sh
#
# @name Quadrotor + Tailsitter
#
# @type VTOL Quad Tailsitter
#
. ${R}etc/init.d/rc.vtol_defaults
param set-default MAV_TYPE 20
param set-default CA_AIRFRAME 4
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.23
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.23
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.23
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.23
param set-default CA_ROTOR3_KM -0.05
param set-default CA_SV_CS_COUNT 0
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 0
param set-default FW_PR_I 0.2
param set-default FW_PR_P 0.2
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_P 0.2
param set-default FW_THR_TRIM 0.33
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_ALT_TC 2
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default FW_T_TAS_TC 2
param set-default MC_AIRMODE 1
param set-default MC_PITCH_P 5
param set-default MC_ROLLRATE_P 0.3
param set-default MPC_ACC_HOR_MAX 2
param set-default MPC_XY_P 0.8
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default NAV_ACC_RAD 5
param set-default VT_FW_DIFTHR_EN 7
param set-default VT_FW_DIFTHR_S_R 0.5
param set-default VT_FW_DIFTHR_S_P 0.5
param set-default VT_FW_DIFTHR_S_Y 0.5
param set-default VT_F_TRANS_DUR 1.5
param set-default VT_F_TRANS_THR 0.7
param set-default VT_TYPE 0
param set-default WV_EN 0

1
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
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@ -60,6 +60,7 @@ px4_add_romfs_files(
1042_gazebo-classic_tiltrotor
1043_gazebo-classic_standard_vtol_drop
1044_gazebo-classic_plane_lidar
1045_gazebo-classic_quadtailsitter
1060_gazebo-classic_rover
1061_gazebo-classic_r1_rover
1062_flightgear_tf-r1

1
src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
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@ -91,6 +91,7 @@ if(gazebo_FOUND)
plane_catapult
plane_lidar
px4vision
quadtailsitter
r1_rover
rover
standard_vtol