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Revert "Update GZBridge to be able to use gazebo airspeed. Add quadtailsitter. (#23455)" (#23583)

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This reverts commit 7e45f4915208b2d02e05e5741ff7456cf92120f9.

Co-authored-by: jmackay2 <1.732mackay@gmail.com>
This commit is contained in:
Jaeyoung Lim 2024-08-21 01:36:08 +02:00 committed by GitHub
parent 0931179579
commit f252e20eae
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GPG Key ID: B5690EEEBB952194
7 changed files with 16 additions and 103 deletions
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2
ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter
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@ -33,7 +33,7 @@ param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 0
param set-default FD_FAIL_R 70
parm set-default FD_FAIL_R 70
param set-default FW_P_TC 0.6

2
ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
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@ -14,7 +14,9 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1
# TODO: Enable motor failure detection when the
# VTOL no longer reports 0A for all ESCs in SITL

92
ROMFS/px4fmu_common/init.d-posix/airframes/4014_gz_quadtailsitter
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@ -1,92 +0,0 @@
#!/bin/sh
#
# @name Quadrotor + Tailsitter
#
# @type VTOL Quad Tailsitter
#
. ${R}etc/init.d/rc.vtol_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0
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 SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_MIN1 10
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_MAX2 1500
param set-default SIM_GZ_EC_FUNC3 103
param set-default SIM_GZ_EC_MIN3 10
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_MAX4 1500
param set-default FD_FAIL_R 70
param set-default FW_P_TC 0.6
param set-default FW_PR_I 0.3
param set-default FW_PR_P 0.5
param set-default FW_PSP_OFF 2
param set-default FW_RR_FF 0.1
param set-default FW_RR_I 0.1
param set-default FW_RR_P 0.2
param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
param set-default FW_YR_I 0
param set-default FW_THR_TRIM 0.35
param set-default FW_THR_MAX 0.8
param set-default FW_THR_MIN 0.05
param set-default FW_T_CLMB_MAX 6
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 1.6
param set-default FW_AIRSPD_STALL 10
param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 18
param set-default FW_AIRSPD_MAX 22
param set-default MC_AIRMODE 2
param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
param set-default MC_ROLL_P 3
param set-default MC_PITCH_P 3
param set-default MC_ROLLRATE_P 0.3
param set-default MC_PITCHRATE_P 0.3
param set-default VT_ARSP_TRANS 15
param set-default VT_B_TRANS_DUR 5
param set-default VT_FW_DIFTHR_EN 7
param set-default VT_FW_DIFTHR_S_Y 1
param set-default VT_F_TRANS_DUR 1.5
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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@ -85,7 +85,6 @@ px4_add_romfs_files(
4011_gz_lawnmower
4012_gz_rover_ackermann
4013_gz_x500_lidar
4014_gz_quadtailsitter
6011_gazebo-classic_typhoon_h480
6011_gazebo-classic_typhoon_h480.post

16
src/modules/simulation/gz_bridge/GZBridge.cpp
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@ -203,15 +203,17 @@ int GZBridge::init()
PX4_WARN("failed to subscribe to %s", laser_scan_topic.c_str());
}
// Airspeed: /world/$WORLD/model/$MODEL/link/base_link/sensor/airspeed_sensor/air_speed
std::string airspeed_topic = "/world/" + _world_name + "/model/" + _model_name +
"/link/base_link/sensor/airspeed_sensor/air_speed";
#if 0
// Airspeed: /world/$WORLD/model/$MODEL/link/airspeed_link/sensor/air_speed/air_speed
std::string airpressure_topic = "/world/" + _world_name + "/model/" + _model_name +
"/link/airspeed_link/sensor/air_speed/air_speed";
if (!_node.Subscribe(airspeed_topic, &GZBridge::airspeedCallback, this)) {
PX4_ERR("failed to subscribe to %s", airspeed_topic.c_str());
if (!_node.Subscribe(airpressure_topic, &GZBridge::airspeedCallback, this)) {
PX4_ERR("failed to subscribe to %s", airpressure_topic.c_str());
return PX4_ERROR;
}
#endif
// Air pressure: /world/$WORLD/model/$MODEL/link/base_link/sensor/air_pressure_sensor/air_pressure
std::string air_pressure_topic = "/world/" + _world_name + "/model/" + _model_name +
"/link/base_link/sensor/air_pressure_sensor/air_pressure";
@ -424,7 +426,8 @@ void GZBridge::barometerCallback(const gz::msgs::FluidPressure &air_pressure)
pthread_mutex_unlock(&_node_mutex);
}
void GZBridge::airspeedCallback(const gz::msgs::AirSpeed &air_speed)
#if 0
void GZBridge::airspeedCallback(const gz::msgs::AirSpeedSensor &air_speed)
{
if (hrt_absolute_time() == 0) {
return;
@ -449,6 +452,7 @@ void GZBridge::airspeedCallback(const gz::msgs::AirSpeed &air_speed)
pthread_mutex_unlock(&_node_mutex);
}
#endif
void GZBridge::imuCallback(const gz::msgs::IMU &imu)
{

4
src/modules/simulation/gz_bridge/GZBridge.hpp
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@ -102,7 +102,7 @@ private:
void clockCallback(const gz::msgs::Clock &clock);
void airspeedCallback(const gz::msgs::AirSpeed &air_speed);
// void airspeedCallback(const gz::msgs::AirSpeedSensor &air_pressure);
void barometerCallback(const gz::msgs::FluidPressure &air_pressure);
void imuCallback(const gz::msgs::IMU &imu);
void poseInfoCallback(const gz::msgs::Pose_V &pose);
@ -123,7 +123,7 @@ private:
// Subscriptions
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
//uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
uORB::Publication<obstacle_distance_s> _obstacle_distance_pub{ORB_ID(obstacle_distance)};
uORB::Publication<vehicle_angular_velocity_s> _angular_velocity_ground_truth_pub{ORB_ID(vehicle_angular_velocity_groundtruth)};
uORB::Publication<vehicle_attitude_s> _attitude_ground_truth_pub{ORB_ID(vehicle_attitude_groundtruth)};

2
src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp
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@ -195,7 +195,7 @@ int SensorAirspeedSim::print_usage(const char *reason)
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("sensor_airspeed_sim", "system");
PRINT_MODULE_USAGE_NAME("sensor_arispeed_sim", "system");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();