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gz: use server config file for loading world plugins (#24441)

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* gz: use server config file for loading world plugins

* submodule

* use server.config in tree

* newlines

* format

* gzbridge: rename function

* format

* gzbridge: add magnetometer callback

* change gz_find_package to find_package

* fix up directory structure and cmake to allow multiple plugins

* newlines

* add comment block explaining gz_env.sh

* remove dupe readme

* remove SENS_EN_MAGSIM from all gz airframe files except spacecraft

* update gz submodule
This commit is contained in:
Jacob Dahl
2025-03-05 17:37:16 -07:00
committed by GitHub
parent 0ab3e45c13
commit ea8bcd9cef
29 changed files with 425 additions and 84 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500
-2
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@@ -13,8 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_MAGSIM 1
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
-3
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@@ -12,11 +12,8 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
param set-default FW_LND_ANG 8
param set-default NPFG_PERIOD 12
ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
-1
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@@ -13,7 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
# TODO: Enable motor failure detection when the
ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
-2
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@@ -14,8 +14,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_MAGSIM 1
# Commander Parameters
param set-default COM_DISARM_LAND 0.5
ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane
-1
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@@ -11,7 +11,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
param set-default FW_LND_ANG 8
ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
-3
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@@ -45,9 +45,6 @@ param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
# Simulated sensors
param set-default SENS_EN_MAGSIM 1
# Actuator mapping
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
param set-default SIM_GZ_WH_MIN1 70
ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
-2
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@@ -11,8 +11,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
param set-default SIM_GZ_EN 1 # Gazebo bridge
# Simulated sensors
param set-default SENS_EN_MAGSIM 1
# We can arm and drive in manual mode when it slides and GPS check fails:
param set-default COM_ARM_WO_GPS 1
ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann
-3
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@@ -44,9 +44,6 @@ param set-default PP_LOOKAHD_GAIN 1
param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1
# Simulated sensors
param set-default SENS_EN_MAGSIM 1
# Wheels
param set-default SIM_GZ_WH_FUNC1 101
param set-default SIM_GZ_WH_MIN1 0
ROMFS/px4fmu_common/init.d-posix/airframes/4018_gz_quadtailsitter
-2
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@@ -13,8 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
param set-default SIM_GZ_EN 1 # Gazebo bridge
param set-default SENS_EN_MAGSIM 1
param set-default MAV_TYPE 20
param set-default CA_AIRFRAME 4
ROMFS/px4fmu_common/init.d-posix/airframes/4020_gz_tiltrotor
-2
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@@ -13,8 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}
param set-default SIM_GZ_EN 1 # Gazebo bridge
param set-default SENS_EN_MAGSIM 1
param set-default MAV_TYPE 21
param set-default CA_AIRFRAME 3
ROMFS/px4fmu_common/init.d-posix/airframes/8011_gz_omnicopter
-1
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@@ -83,7 +83,6 @@ param set-default CA_ROTOR7_AY -0.211325
param set-default CA_ROTOR7_AZ -0.57735
param set-default SIM_GZ_EN 1
param set-default SENS_EN_MAGSIM 1
param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_FUNC2 102