diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna index 6544835154..697dc0024f 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna @@ -79,3 +79,4 @@ param set-default SIM_GZ_SV_FUNC3 203 param set-default SIM_GZ_SV_FUNC4 204 param set-default SIM_GZ_SV_FUNC5 205 param set-default SIM_GZ_SV_FUNC6 206 +param set-default FD_ESCS_EN 0 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_foxtech_loong_2160 b/ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_foxtech_loong_2160 index 741d021da4..1a2b9fb934 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_foxtech_loong_2160 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_foxtech_loong_2160 @@ -36,16 +36,16 @@ param set-default CA_ROTOR4_AZ 0.0 param set-default CA_ROTOR4_PX 0.2 param set-default SIM_GZ_EC_FUNC1 101 -param set-default SIM_GZ_EC_MIN1 10 +param set-default SIM_GZ_EC_MIN1 0 param set-default SIM_GZ_EC_MAX1 1500 param set-default SIM_GZ_EC_FUNC2 102 -param set-default SIM_GZ_EC_MIN2 10 +param set-default SIM_GZ_EC_MIN2 0 param set-default SIM_GZ_EC_MAX2 1500 param set-default SIM_GZ_EC_FUNC3 103 -param set-default SIM_GZ_EC_MIN3 10 +param set-default SIM_GZ_EC_MIN3 0 param set-default SIM_GZ_EC_MAX3 1500 param set-default SIM_GZ_EC_FUNC4 104 -param set-default SIM_GZ_EC_MIN4 10 +param set-default SIM_GZ_EC_MIN4 0 param set-default SIM_GZ_EC_MAX4 1500 param set-default SIM_GZ_EC_FUNC5 105 diff --git a/Tools/simulation/gz/models/foxtech_loong_2160/meshes/VTOL.dae b/Tools/simulation/gz/models/foxtech_loong_2160/meshes/VTOL.dae index 39c9b0da50..9c797ea964 100644 --- a/Tools/simulation/gz/models/foxtech_loong_2160/meshes/VTOL.dae +++ b/Tools/simulation/gz/models/foxtech_loong_2160/meshes/VTOL.dae @@ -6,9 +6,9 @@ FBX COLLADA exporter - 2023-01-04T00:59:13Z + 2023-02-07T22:19:17Z - 2023-01-04T00:59:13Z + 2023-02-07T22:19:17Z @@ -35,20 +35,11 @@ <color sid="diffuse">0.588235 0.588235 0.588235 1.000000</color> </diffuse> <specular> - <color sid="specular">0.486000 0.486000 0.486000 1.000000</color> + <color sid="specular">0.097200 0.097200 0.097200 1.000000</color> </specular> <shininess> <float sid="shininess">2.000000</float> </shininess> - <reflective> - <color sid="reflective">0.000000 0.000000 0.000000 1.000000</color> - </reflective> - <reflectivity> - <float sid="reflectivity">1.000000</float> - </reflectivity> - <transparent opaque="RGB_ZERO"> - <color sid="transparent">1.000000 1.000000 1.000000 1.000000</color> - </transparent> <transparency> <float sid="transparency">0.000000</float> </transparency> @@ -62,190 +53,190 @@ <mesh> <source id="Fuselage-POSITION"> <float_array id="Fuselage-POSITION-array" count="552"> -2.790920 0.000000 0.000000 -2.578474 1.068039 0.000000 -1.973479 1.973479 0.000000 -1.068039 2.578474 0.000000 -0.000000 2.790920 0.000000 -0.000000 -2.790920 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0.908134 4.372905 0.000000 0.000000 0.000000 1.000000</matrix> + <matrix sid="matrix">-0.000000 1.000000 0.000000 0.000000 -1.000000 -0.000000 0.000000 0.000000 0.000000 0.000000 0.908134 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> <instance_geometry url="#MotorMount_ncl1_1-lib"> <bind_material> <technique_common> @@ -7679,7 +7670,7 @@ </extra> </node> <node name="Rod_ncl1_1" id="Rod_ncl1_1" sid="Rod_ncl1_1"> - <matrix sid="matrix">0.760705 0.000000 0.000000 42.699406 0.000000 1.000000 0.000000 -1.332500 0.000000 0.000000 0.760705 4.389361 0.000000 0.000000 0.000000 1.000000</matrix> + <matrix sid="matrix">-0.000000 1.000000 0.000000 0.000000 -0.760705 -0.000000 0.000000 0.000000 0.000000 0.000000 0.760705 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> <instance_geometry url="#Rod_ncl1_1-lib"> <bind_material> <technique_common> @@ -7694,7 +7685,7 @@ </extra> </node> <node name="Motor_ncl1_2" id="Motor_ncl1_2" sid="Motor_ncl1_2"> - <matrix sid="matrix">1.000000 0.000000 0.000000 42.699406 0.000000 1.000000 0.000000 -40.322048 0.000000 0.000000 1.000000 5.526409 0.000000 0.000000 0.000000 1.000000</matrix> + <matrix sid="matrix">-0.000000 1.000000 0.000000 0.000000 -1.000000 -0.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> <instance_geometry url="#Motor_ncl1_2-lib"> <bind_material> <technique_common> @@ -7709,7 +7700,7 @@ </extra> </node> <node name="Motor_ncl1_3" id="Motor_ncl1_3" sid="Motor_ncl1_3"> - <matrix sid="matrix">1.000000 0.000000 0.000000 -42.699368 0.000000 1.000000 0.000000 40.321995 0.000000 0.000000 1.000000 5.526409 0.000000 0.000000 0.000000 1.000000</matrix> + <matrix sid="matrix">-0.000000 1.000000 0.000000 0.000000 -1.000000 -0.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> <instance_geometry url="#Motor_ncl1_3-lib"> <bind_material> <technique_common> @@ -7724,7 +7715,7 @@ </extra> </node> <node name="RodMount001" id="RodMount001" sid="RodMount001"> - <matrix sid="matrix">1.000000 0.000000 0.000000 42.699406 0.000000 -0.000000 -1.000000 4.475254 0.000000 1.000000 -0.000000 4.161518 0.000000 0.000000 0.000000 1.000000</matrix> + <matrix sid="matrix">-0.000000 -0.000000 -1.000000 0.000000 -1.000000 0.000000 0.000000 0.000000 -0.000000 1.000000 -0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> <instance_geometry url="#RodMount001-lib"> <bind_material> <technique_common> @@ -7739,7 +7730,7 @@ </extra> </node> <node name="RodMount002" id="RodMount002" sid="RodMount002"> - <matrix sid="matrix">1.000000 0.000000 0.000000 42.699406 0.000000 -0.000000 -1.000000 -13.924727 0.000000 1.000000 -0.000000 4.161518 0.000000 0.000000 0.000000 1.000000</matrix> + <matrix sid="matrix">-0.000000 -0.000000 -1.000000 0.000000 -1.000000 0.000000 0.000000 0.000000 -0.000000 1.000000 -0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix> <instance_geometry url="#RodMount002-lib"> <bind_material> <technique_common> diff --git a/Tools/simulation/gz/models/foxtech_loong_2160/model.config b/Tools/simulation/gz/models/foxtech_loong_2160/model.config index 5d79085c59..555d9cf202 100644 --- a/Tools/simulation/gz/models/foxtech_loong_2160/model.config +++ b/Tools/simulation/gz/models/foxtech_loong_2160/model.config @@ -2,7 +2,7 @@ <model> <name>foxtech_loong_2160</name> <version>1.0</version> - <sdf version='1.9'>model.sdf</sdf> + <sdf version='1.10'>model.sdf</sdf> <author> <name>Alejandro Hernandez Cordero</name> diff --git a/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf b/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf index 430a153737..bedfa1d3d8 100644 --- a/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf +++ b/Tools/simulation/gz/models/foxtech_loong_2160/model.sdf @@ -1,6 +1,6 @@ <?xml version="1.0"?> -<sdf version="1.9"> - <model name="foxtech"> +<sdf version="1.10"> + <model name="foxtech_loong_2160"> <pose>0 0 0.5 0 0 0</pose> <link name="base_link"> <visual name="visual_base_link"> @@ -18,7 +18,7 @@ </geometry> </collision> <inertial> - <pose>5.5496318928189852e-08 -0.13220957545547668 0.04102677817672417 1.5707963267949001 -1.5231416921301011 1.5707963267948919</pose> + <pose>-0.13220955077769075 -4.9142356489896525e-08 0.04102678265168308 1.5707963267948966 -1.5231416433972742 0</pose> <mass>3.584838964525901</mass> <inertia> <ixx>0.67738485351961117</ixx> @@ -35,6 +35,7 @@ </sensor> </link> <link name="legs_link"> + <pose>0 0 0 0 0 -1.57</pose> <visual name="visual_legs_link"> <geometry> <mesh> @@ -46,6 +47,18 @@ <diffuse>1 1 1 1.0</diffuse> </material> </visual> + <inertial> + <pose>3.7153930608820144e-06 -0.17032952180315669 -0.067888027893133446 0.010363008330798451 -1.494594844601834 1.5602561510969915</pose> + <mass>0.6675493726413797</mass> + <inertia> + <ixx>0.032153703643267112</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.031670484418576728</iyy> + <iyz>0</iyz> + <izz>0.00069030434527976208</izz> + </inertia> + </inertial> <collision name="collision_legs_link"> <geometry> <mesh> @@ -59,9 +72,7 @@ <parent>base_link</parent> </joint> <link name="airspeed_link"> - <pose>0 0 0 0 0 0</pose> <inertial> - <pose>0 0 0 0 0 0</pose> <mass>0.015</mass> <inertia> <ixx>1e-05</ixx> @@ -88,12 +99,12 @@ <always_on>1</always_on> <update_rate>30</update_rate> <air_speed> - <airspeed> + <pressure> <noise type="gaussian"> <mean>0</mean> <stddev>0.01</stddev> </noise> - </airspeed> + </pressure> </air_speed> </sensor> </link> @@ -102,7 +113,7 @@ <parent>base_link</parent> </joint> <link name="aileron_left_link"> - <pose>-0.713 -0.122 0.062 0 0 0</pose> + <pose>-0.122 0.713 0.062 0 0 -1.57</pose> <visual name="visual_aileron_left_link"> <geometry> <mesh> @@ -145,7 +156,7 @@ </axis> </joint> <link name="aileron_right_link"> - <pose>0.713 -0.122 0.062 0 0 0</pose> + <pose>-0.122 -0.713 0.062 0 0 -1.57</pose> <visual name="visual_aileron_right_link"> <geometry> <mesh> @@ -187,9 +198,9 @@ </dynamics> </axis> </joint> - <link name="elevator_right_link"> - <pose>0.145 -0.883 0.058 0 0 0</pose> + <link name="elevator_link"> <visual name="visual_elevator_right_link"> + <pose>-0.883 -0.145 0.058 0 0 -1.57</pose> <geometry> <mesh> <uri>model://foxtech_loong_2160/meshes/elevator_right.dae</uri> @@ -197,42 +208,15 @@ </geometry> </visual> <collision name="collision_elevator_right_link"> + <pose>-0.883 -0.145 0.058 0 0 -1.57</pose> <geometry> <mesh> <uri>model://foxtech_loong_2160/meshes/elevator_right.dae</uri> </mesh> </geometry> </collision> - <inertial> - <pose>-0.0016067211671852988 -0.018030442713651468 -0.00069522433005383619 -1.5781803398819152 -1.5333187237477242 -1.557643721247719</pose> - <mass>0.060753042156032153</mass> - <inertia> - <ixx>0.00020350509255462549</ixx> - <ixy>0</ixy> - <ixz>0</ixz> - <iyy>0.00019480985651122032</iyy> - <iyz>0</iyz> - <izz>8.8355306524910641e-06</izz> - </inertia> - </inertial> - </link> - <joint name="servo_2" type="revolute"> - <parent>base_link</parent> - <child>elevator_right_link</child> - <axis> - <xyz>1 0 0</xyz> - <limit> - <lower>-0.53</lower> - <upper>0.53</upper> - </limit> - <dynamics> - <damping>1.000</damping> - </dynamics> - </axis> - </joint> - <link name="elevator_left_link"> - <pose>-0.145 -0.883 0.058 0 0 0</pose> <visual name="visual_elevator_left_link"> + <pose>-0.883 0.145 0.058 0 0 -1.57</pose> <geometry> <mesh> <uri>model://foxtech_loong_2160/meshes/elevator_left.dae</uri> @@ -240,6 +224,7 @@ </geometry> </visual> <collision name="collision_elevator_left_link"> + <pose>-0.883 0.145 0.058 0 0 -1.57</pose> <geometry> <mesh> <uri>model://foxtech_loong_2160/meshes/elevator_left.dae</uri> @@ -247,23 +232,24 @@ </geometry> </collision> <inertial> - <pose>0.0016067211849514255 -0.01803044297097545 -0.00069522588918623891 -1.5634123386853667 -1.5333186393334697 -1.5839489042016495</pose> - <mass>0.060753043945841481</mass> + <pose>-0.90103043712540809 -1.4356019912623529e-05 0.057304774890379953 -1.5708004219891478 -1.5333831628670098 -3.141493135229823</pose> + <mass>0.12150608610187363</mass> <inertia> - <ixx>0.00020350510004415204</ixx> + <ixx>0.0029053735939891879</ixx> <ixy>0</ixy> <ixz>0</ixz> - <iyy>0.00019480986370137352</iyy> + <iyy>0.0028879706692375028</iyy> <iyz>0</iyz> - <izz>8.8355309624774113e-06</izz> + <izz>1.7683703559870421e-05</izz> </inertia> </inertial> </link> - <joint name="servo_3" type="revolute"> + <joint name="servo_2" type="revolute"> + <pose>-0.883 0 0.058 0 0 -1.57</pose> <parent>base_link</parent> - <child>elevator_left_link</child> + <child>elevator_link</child> <axis> - <xyz>1 0 0</xyz> + <xyz>-1 0 0</xyz> <limit> <lower>-0.53</lower> <upper>0.53</upper> @@ -274,7 +260,7 @@ </axis> </joint> <link name="rudder_link"> - <pose>0 -0.887 0.201 0 0 0</pose> + <pose>-0.887 0 0.201 0 0 -1.57</pose> <visual name="visual_rudder_link"> <geometry> <mesh> @@ -302,7 +288,7 @@ </inertia> </inertial> </link> - <joint name="servo_4" type="revolute"> + <joint name="servo_3" type="revolute"> <parent>base_link</parent> <child>rudder_link</child> <axis> @@ -316,11 +302,11 @@ </dynamics> </axis> </joint> - <link name="rotor_0"> + <link name="rotor_3"> <gravity>true</gravity> <self_collide>false</self_collide> <velocity_decay/> - <pose>0.427 -0.403 0.083 0 0 0</pose> + <pose>-0.403 -0.427 0.083 0 0 -1.57</pose> <inertial> <mass>0.016076923076923075</mass> <inertia> @@ -329,15 +315,14 @@ <izz>2.649858234714004e-05</izz> </inertia> </inertial> - <visual name="rotor_0_visual"> + <visual name="rotor_3_visual"> <geometry> <mesh> <uri>model://foxtech_loong_2160/meshes/propeller_ccw.dae</uri> </mesh> </geometry> </visual> - <collision name="rotor_0_collision"> - <pose>0 0 0 0 0 0 </pose> + <collision name="rotor_3_collision"> <geometry> <box> <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size> @@ -371,11 +356,11 @@ </dynamics> </axis> </joint> - <link name="rotor_1"> + <link name="rotor_2"> <gravity>true</gravity> <self_collide>false</self_collide> <velocity_decay/> - <pose>-0.427 0.403 0.083 0 0 0</pose> + <pose>0.403 0.427 0.083 0 0 -1.57</pose> <inertial> <mass>0.016076923076923075</mass> <inertia> @@ -384,15 +369,14 @@ <izz>2.649858234714004e-05</izz> </inertia> </inertial> - <visual name="rotor_1_visual"> + <visual name="rotor_2_visual"> <geometry> <mesh> <uri>model://foxtech_loong_2160/meshes/propeller_ccw.dae</uri> </mesh> </geometry> </visual> - <collision name="rotor_1_collision"> - <pose>0 0 0 0 0 0 </pose> + <collision name="rotor_2_collision"> <geometry> <box> <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size> @@ -426,11 +410,11 @@ </dynamics> </axis> </joint> - <link name="rotor_2"> + <link name="rotor_0"> <gravity>true</gravity> <self_collide>false</self_collide> <velocity_decay/> - <pose>0.427 0.403 0.083 0 0 0</pose> + <pose>0.403 -0.427 0.083 0 0 -1.57</pose> <inertial> <mass>0.016076923076923075</mass> <inertia> @@ -439,15 +423,14 @@ <izz>2.649858234714004e-05</izz> </inertia> </inertial> - <visual name="rotor_2_visual"> + <visual name="rotor_0_visual"> <geometry> <mesh> <uri>model://foxtech_loong_2160/meshes/propeller_cw.dae</uri> </mesh> </geometry> </visual> - <collision name="rotor_2_collision"> - <pose>0 0 0 0 0 0 </pose> + <collision name="rotor_0_collision"> <geometry> <box> <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size> @@ -481,11 +464,11 @@ </dynamics> </axis> </joint> - <link name="rotor_3"> + <link name="rotor_1"> <gravity>true</gravity> <self_collide>false</self_collide> <velocity_decay/> - <pose>-0.427 -0.403 0.083 0 0 0</pose> + <pose>-0.403 0.427 0.083 0 0 -1.57</pose> <inertial> <mass>0.016076923076923075</mass> <inertia> @@ -494,15 +477,14 @@ <izz>2.649858234714004e-05</izz> </inertia> </inertial> - <visual name="rotor_3_visual"> + <visual name="rotor_1_visual"> <geometry> <mesh> <uri>model://foxtech_loong_2160/meshes/propeller_cw.dae</uri> </mesh> </geometry> </visual> - <collision name="rotor_3_collision"> - <pose>0 0 0 0 0 0 </pose> + <collision name="rotor_1_collision"> <geometry> <box> <size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size> @@ -537,7 +519,7 @@ </axis> </joint> <link name='rotor_puller'> - <pose>0.0 0.379 0.0 -1.57 1.57 0</pose> + <pose>0.379 0.0 0.0 -1.57 1.57 -1.57</pose> <inertial> <pose>0 0 0 0 0 0</pose> <mass>0.005</mass> @@ -690,19 +672,20 @@ <cla_stall>-3.85</cla_stall> <cda_stall>-0.9233984055</cda_stall> <cma_stall>0</cma_stall> - <cp>-0.05 0.3 0.05</cp> - <area>0.50</area> + <cp>-0.05 0.45 0.05</cp> + <area>0.6</area> <air_density>1.2041</air_density> <forward>1 0 0</forward> <upward>0 0 1</upward> <link_name>base_link</link_name> <control_joint_name>servo_0</control_joint_name> - <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl> + <control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl> </plugin> <plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> <joint_name>servo_0</joint_name> <sub_topic>servo_0</sub_topic> + <p_gain>10.0</p_gain> </plugin> <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> <a0>0.05984281113</a0> @@ -713,19 +696,20 @@ <cla_stall>-3.85</cla_stall> <cda_stall>-0.9233984055</cda_stall> <cma_stall>0</cma_stall> - <cp>-0.05 -0.3 0.05</cp> - <area>0.50</area> + <cp>-0.05 -0.45 0.05</cp> + <area>0.6</area> <air_density>1.2041</air_density> <forward>1 0 0</forward> <upward>0 0 1</upward> <link_name>base_link</link_name> <control_joint_name>servo_1</control_joint_name> - <control_joint_rad_to_cl>-1.0</control_joint_rad_to_cl> + <control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl> </plugin> <plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> <joint_name>servo_1</joint_name> <sub_topic>servo_1</sub_topic> + <p_gain>10.0</p_gain> </plugin> <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> <a0>-0.2</a0> @@ -743,12 +727,13 @@ <upward>0 0 1</upward> <link_name>base_link</link_name> <control_joint_name>servo_2</control_joint_name> - <control_joint_rad_to_cl>-12.0</control_joint_rad_to_cl> + <control_joint_rad_to_cl>-4.0</control_joint_rad_to_cl> </plugin> <plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> <joint_name>servo_2</joint_name> <sub_topic>servo_2</sub_topic> + <p_gain>10.0</p_gain> </plugin> <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> <a0>0.0</a0> @@ -766,33 +751,13 @@ <upward>0 1 0</upward> <link_name>base_link</link_name> <control_joint_name>servo_3</control_joint_name> + <control_joint_rad_to_cl>0.8</control_joint_rad_to_cl> </plugin> <plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> <joint_name>servo_3</joint_name> <sub_topic>servo_3</sub_topic> - </plugin> - <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> - <a0>0.0</a0> - <cla>4.752798721</cla> - <cda>0.6417112299</cda> - <cma>0.0.</cma> - <alpha_stall>0.3391428111</alpha_stall> - <cla_stall>-3.85</cla_stall> - <cda_stall>-0.9233984055</cda_stall> - <cma_stall>0</cma_stall> - <cp>-0.5 0 0.05</cp> - <area>0.02</area> - <air_density>1.2041</air_density> - <forward>1 0 0</forward> - <upward>0 1 0</upward> - <link_name>base_link</link_name> - <control_joint_name>servo_4</control_joint_name> - </plugin> - <plugin - filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> - <joint_name>servo_4</joint_name> - <sub_topic>servo_4</sub_topic> + <p_gain>10.0</p_gain> </plugin> </model> </sdf> diff --git a/Tools/simulation/gz/models/rc_cessna/model.config b/Tools/simulation/gz/models/rc_cessna/model.config index d41b4c6180..fd522df280 100644 --- a/Tools/simulation/gz/models/rc_cessna/model.config +++ b/Tools/simulation/gz/models/rc_cessna/model.config @@ -2,7 +2,7 @@ <model> <name>rc_cessna</name> <version>1.0</version> - <sdf version='1.9'>model.sdf</sdf> + <sdf version='1.10'>model.sdf</sdf> <author> <name>Benjamin Perseghetti</name> diff --git a/Tools/simulation/gz/models/rc_cessna/model.sdf b/Tools/simulation/gz/models/rc_cessna/model.sdf index 5ea036f96c..c30c5eb46b 100644 --- a/Tools/simulation/gz/models/rc_cessna/model.sdf +++ b/Tools/simulation/gz/models/rc_cessna/model.sdf @@ -1,5 +1,5 @@ <?xml version="1.0"?> -<sdf version='1.9'> +<sdf version='1.10'> <model name='rc_cessna'> <pose>0 0 0.246 0 0 0</pose> <link name='base_link'> @@ -85,7 +85,7 @@ <update_rate>250</update_rate> </sensor> </link> - <link name="airspeed"> + <link name="airspeed_link"> <pose>0 0 0 0 0 0</pose> <inertial> <pose>0 0 0 0 0 0</pose> @@ -111,22 +111,22 @@ <diffuse>0 0 0 1.0</diffuse> </material> </visual> - <!-- <sensor name="air_speed" type="air_speed"> + <sensor name="air_speed" type="air_speed"> <always_on>1</always_on> <update_rate>5.0</update_rate> <enable_metrics>false</enable_metrics> <air_speed> - <airspeed> + <pressure> <noise type="gaussian"> <mean>0</mean> <stddev>0.01</stddev> </noise> - </airspeed> + </pressure> </air_speed> - </sensor> --> + </sensor> </link> <joint name='airspeed_joint' type='fixed'> - <child>airspeed</child> + <child>airspeed_link</child> <parent>base_link</parent> </joint> <link name='rotor_puller'> @@ -685,6 +685,7 @@ filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> <joint_name>servo_0</joint_name> <sub_topic>servo_0</sub_topic> + <p_gain>10.0</p_gain> </plugin> <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> <a0>0.05984281113</a0> @@ -708,6 +709,7 @@ filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> <joint_name>servo_1</joint_name> <sub_topic>servo_1</sub_topic> + <p_gain>10.0</p_gain> </plugin> <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> <a0>0.05984281113</a0> @@ -767,6 +769,7 @@ filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> <joint_name>servo_2</joint_name> <sub_topic>servo_2</sub_topic> + <p_gain>10.0</p_gain> </plugin> <plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag"> <a0>0.0</a0> @@ -789,6 +792,7 @@ <plugin filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController"> <joint_name>rudder_joint</joint_name> + <p_gain>10.0</p_gain> </plugin> <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel"> <jointName>rotor_puller_joint</jointName> diff --git a/Tools/simulation/gz/models/standard_vtol/model.config b/Tools/simulation/gz/models/standard_vtol/model.config index 92da1a44ce..c3f018d76c 100644 --- a/Tools/simulation/gz/models/standard_vtol/model.config +++ b/Tools/simulation/gz/models/standard_vtol/model.config @@ -2,7 +2,7 @@ <model> <name>Standard VTOL</name> <version>1.0</version> - <sdf version='1.9'>model.sdf</sdf> + <sdf version='1.10'>model.sdf</sdf> <author> <name>Roman Bapst</name> diff --git a/Tools/simulation/gz/models/standard_vtol/model.sdf b/Tools/simulation/gz/models/standard_vtol/model.sdf index 33cf587def..5ef67f0a05 100644 --- a/Tools/simulation/gz/models/standard_vtol/model.sdf +++ b/Tools/simulation/gz/models/standard_vtol/model.sdf @@ -1,6 +1,6 @@ <?xml version="1.0"?> <!-- DO NOT EDIT: Generated from standard_vtol.sdf.jinja --> -<sdf version='1.9'> +<sdf version='1.10'> <model name='standard_vtol'> <pose>0 0 0.246 0 0 0</pose> <link name='base_link'> @@ -167,12 +167,12 @@ <visualize>true</visualize> <enable_metrics>true</enable_metrics> <air_speed> - <airspeed> + <pressure> <noise type="gaussian"> <mean>0</mean> <stddev>0.01</stddev> </noise> - </airspeed> + </pressure> </air_speed> </sensor> </link>