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.
* AUTOPILOT.capabilities includes gimbal manager protocol bit
Sets MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER bit in AUTOPILOT.capabilities
* mavlink: update submodule
* mavlink: only set gimbal flag if gimbal param set
We should probably only set the flag if the gimbal manager is actually
set up using the MNT_MODE_IN parameter.
* mavlink: make param optional
If the gimbal module is not built in we don't have the MNT_MODE_IN
param, so we need to deal with that.
* gazebo-classic: update submodule
---------
Co-authored-by: Julian Oes <julian@oes.ch>
* Added Lawnmower airframe
* Update 5005_gz_lawnmower
Works all right
* Update 5005_gz_lawnmower
RDD_WHL_SPEED has new name: RDD_WHEEL_SPEED
* Update ROMFS/px4fmu_common/init.d-posix/airframes/5005_gz_lawnmower
Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com>
* Update ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com>
* Renamed 5005_gz_lawnmower to 4011_gz_lawnmower
also pulled latest GZ models hash
---------
Co-authored-by: Per Frivik <94360401+PerFrivik@users.noreply.github.com>
simulation gazebo: move the gazebo models to submodule, allow for operation with external gazebo instance, independent of startup order. Allows drag an drop of models from gazebo fuel.
* rolled back updates
Signed-off-by: frederik <frederik@auterion.com>
* fixing empy
Signed-off-by: frederik <frederik@auterion.com>
* Update GZBridge.cpp to lower drop position
Dropping from 1m leads to movement in the rc_cessna. Dropping from 0.5m leads to no movement.
* Update STANDALONE env variable.
* Update STANDALONE env_variable on GZBridge
* Update src/modules/simulation/gz_bridge/GZBridge.cpp
Co-authored-by: Daniel Agar <daniel@agar.ca>
* test removal of x500
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* removed all models and reworked logic
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* remove model path in set_sdf_filename
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* filter resource path for world sdf
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* updated structure to keep old make px4_sitl
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* remove gz tools
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* import gz as submodule and reverse rc simulator logic
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* [gz-sim]: source GZ_SIM_RESOURCE_PATH only if PX4 starts gz server
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
* Typo fix
---------
Signed-off-by: frederik <frederik@auterion.com>
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
* started tiltrotor port
* added advanced plane and changed some parameters on the tiltrotor
* added advanced plane
* removed tiltrotor for clean push
* removed standard vtol old model file
* removing the standard vtol changes from this PR, since it is not part of the advanced plane
* removed advanced plane meshes as they are already found in the rc_cessna
* updating and improving airframe parameters
* updated mesh paths
Signed-off-by: frederik <frederik@auterion.com>
---------
Signed-off-by: frederik <frederik@auterion.com>
Co-authored-by: frederik <frederik@auterion.com>
This is a tool that can be used to generate advanced lift drag plugin parameters automatically using AVL. Rather than having to create .avl files yourself, pass them to AVL, read out the correct parameters and place them in the Advanced Lift Drag plugin, this tool will do all that for you and generate a complete advanced_lift_drag plugin sdf containing all necessary parameters for any vehicle. All that is required is to specify what the physical geometries of the vehicle are. The scripts are adaptable enough to support a self-selected number of control surfaces.
---------
Co-authored-by: frederik <frederik@auterion.com>
* [not-working] add a gz-omnicopter model
* Fix axis directions on omnicopter model
The omnicopter joint axis directions had to be adapted for sdf 1.9 as it has different conventions for joint axis definitions.
* include model from gz-fuel & remove mesh files
* Fix omnicopter model using fuel
---------
Co-authored-by: Jaeyoung Lim <jalim@ethz.ch>
* Port of the PX4 Vision gazebo-classic model to Gazebo. With Gazebo Garden, everything seems functionnal.
* Port of the PX4 Vision gazebo-classic model to Gazebo.
With Gazebo Garden, everything seems functionnal.
* Added airframe for command make px4_sitl gz_px4vision
* revert author field
* Import model from Ignition Fuel instead of defining it directly in the .sdf
Balduin