reused SensorGps.msg with new topic platform_gps_position. Currently
only latitude_deg, longigude_deg and altitude_ellipsoid are set. check
out with listener platform_gps_position.
More realistic than plain constant movement. Implemented with white
noise, low pass filter & feedback term ensuring we stay close enough to
upright.
Tuning knobs maybe not very intuitive at the moment. There are:
- update rates alpha_v, alpha_w (bigger = faster movement)
- amplitudes ampl_v, ampl_w (bigger = larger movement)
- feedback gains pos_gains, attitude_gain (bigger = smaller movement)
maybe we could remove the redundance between the latter two?
Also:
- overload setPlatformVelocity for different inputs
- don't set aircraft pose at all (make sure with environment variable
that it is on platform)
- platform height = 2m defined in sdf file
- rename pose -> navsat to be more precise
- gz submodule update. heavier platform & initial pose.
in Tools/simulation/gz submodule. for now I am pointing it to the PR
branch moving_platform_world which contains the moving_platform world.
The world contains the platform so we remove the platform definition and
the code that added it dynamically.
Also the env var GZ_MOVING_PLATFORM is now gone -- world name can be set
with existing env var PX4_GZ_WORLD.
We now have setPlatformVelocity, which commands a velocity command to
the platform. The platform handles it with the
gz::sim::systems::VelocityControl plugin.
We could also set the velocity once and forget about it (has no effect
if doing it directly after creating it though, need to wait a bit, 2
seconds worked). But by setting it constantly we can easily change to
more realistic boat-like movement.
the good:
- we have a platform in gazebo, created dynamically from GZBridge.
- it has a NavSat sensor, with a working callback on the PX4 side,
GZBridge::platformNavsatCallback. From there we can publish the info
as uOrb and do what we want with it.
the bad:
- the platform doesn't move yet
the ugly:
- the platforms sdf file is currently untracked in the
Tools/simulation/gz submodule. Without this the commit here is
useless. Need to find a sensible spot for it.
Internal combustion engine control module.
New actuator functions and RPM based start/restart logic.
Not enabled by default.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Pernilla <pernilla@auterion.com>
* Yawsticks on gimbal, vehicle follows gimbal in slowmode, once vehicle has taken off
* Increase queue length to avoid automatically unadvertise queued publications with queue length 1
* Improve readability
---------
Co-authored-by: Pernilla <pernilla@auterion.com>
Remove yaw_acceptance and altitude_acceptance_radius fields as they were only
filled by now removed avoidance controller.
Signed-off-by: Silvan <silvan@auterion.com>
* remove temp field from airspeed.msg, adjust temp selection
* temp-sensor hirarchy: airspeed, ext. baro, default value
* directly use diff-press or baro temp in true-airspeed calc
* improve clarity
* add enum for temperature source in VehicleAirData.msg
