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179 Commits
Author SHA1 Message Date
jmackay2 b33b0398dd Fix param typo in quadtailsitter airframe (#23588) 2024-08-22 10:30:10 +10:00
Jaeyoung Limandjmackay2 f252e20eae Revert "Update GZBridge to be able to use gazebo airspeed. Add quadtailsitter. (#23455)" (#23583) 
This reverts commit 7e45f49152.

Co-authored-by: jmackay2 <1.732mackay@gmail.com>
 2024-08-20 19:36:08 -04:00
jmackay2andjmackay2 7e45f49152 Update GZBridge to be able to use gazebo airspeed. Add quadtailsitter. (#23455) 
* Update GZBridge to be able to use gazebo airspeed. Add gz quadtailsitter.

* Fix formatting

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Co-authored-by: jmackay2 <jmackay2@gmail.com>
 2024-08-19 08:54:57 +02:00
Silvan Fuhrer 4f66410d24 ROMFS gazebo iris opt flow: increase SENS_FLOW_MAXHGT to 15m (#23557) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-08-16 15:58:36 +02:00
Sergei 1211aad9b0 Reasonable defaults for Lawnmower SITL 2024-08-09 12:18:16 -04:00
chfriedrich98 33d99a13e8 differential: restructure and update module (#23430) 
* differential: rename module

* differential: restructure and update module
 2024-08-07 09:53:37 +02:00
Silvan Fuhrer b74e46b1ac SITL airframes/Navigator: remvoe reference to removed param MIS_LTRMIN_ALT 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-07-30 17:50:54 +02:00
chfriedrich98 b93dd0e8d4 purePursuit: migrate parameters to library (#23438) 2024-07-30 14:16:05 +02:00
Matthias Grob f2bca92221 Fix duplicate newlines at the end of files 2024-07-19 14:33:36 +02:00
Jacob Dahl fe5a07a96d gz: added x500_lidar model for publishing obstacle_distance 2024-07-16 11:07:03 +02:00
chfriedrich98 c391509c23 ackermann: add SITL airframe 2024-07-10 21:04:59 -04:00
Silvan Fuhrer f4e76cd392 remove deprecated BAT_ params (#22872) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-14 14:42:32 +02:00
Marco Hauswirth db2f616400 reduce transition pusher throttle (#23262) 2024-06-12 18:10:50 +02:00
Frederik MarkusandSilvan Fuhrer 9ececfdd65 update GCS connection loss failsafe in all gazebo models (#22299) 
* update GCS connection loss failsafe in all gazebo models

Signed-off-by: frederik <frederik@auterion.com>

* cleanup and return of old parameter

Signed-off-by: frederik <frederik@auterion.com>

---------

Signed-off-by: frederik <frederik@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
 2024-06-11 09:50:55 +02:00
Silvan Fuhrer efe2a52eb4 ROMFS: remove MIS_DIST_1WP customizations in airframes 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-05-29 21:00:35 -04:00
Sergei GrichineandPer Frivik b405d75553 Added Zero Turn Lawnmower model (#22717) 
* 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>
 2024-02-22 15:30:12 +01:00
Silvan Fuhrer 3e36ab187b ROMFS: improve SITL tailsitter tuning 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2024-01-12 09:51:55 +01:00
Matthias Grob 9156c5c065 ROMFS: remove single trailing zeros 2024-01-09 10:27:39 +01:00
Matthias Grob b70b19b7eb ROMFS: keep consistent quad X geometry but in each airframe separately 2024-01-09 10:27:39 +01:00
Matthias Grob 09fa712d37 ROMFS: remove trailing zeroes 2024-01-09 10:27:39 +01:00
Matthias Grob 3de5c609a4 Differential Rover: PR fixes 2023-12-21 16:27:53 +01:00
PerFrivik 056e41af8c Differential Rover: Ported R1 to GZ and introduced new GZ wheel interface 2023-12-21 16:27:53 +01:00
PerFrivik e3359ea884 Differential Rover: Update airframe architecture 2023-12-21 16:27:53 +01:00
Silvan Fuhrer 9d00a3ae4d AirspeedSelector: remove option to disable airspeed sensor through ASPD_PRIMARY 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-21 11:34:28 +01:00
Frederik Markus c63214bcae adds vehicle with monocam (#22546) 
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
 2023-12-18 09:47:57 +01:00
Silvan Fuhrer 6b4fca1b9d px4vision configs: remove params that are just set again to default 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-12-01 09:43:41 +01:00
Frederik Markus 86fbeb8a20 ROMFS/px4fmu_common/init.d-posix/airframes: 4004_gz_standard_vtol deprecated parameter update 
Signed-off-by: frederik <frederik@auterion.com>
 2023-11-22 21:57:58 -05:00
Damien SIX 833cd79e67 fix: remove depreciated parameter 2023-11-12 15:33:33 +01:00
Silvan Fuhrer 041e5069cb ROMFS: update tuning of SITL standard VTOL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-11-09 09:42:43 +01:00
Frederik Markusandfrederik 39fbfd8e0c Port of Advanced Plane from Gazebo Classic to Gazebo (#22167) 
* 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>
 2023-11-06 09:31:04 +01:00
Silvan Fuhrer 169ff6ccb0 ROMFS: advanced_plane config: remove deprecated settings 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-10-02 15:25:46 +02:00
Silvan Fuhrer 5fa8985477 ROMFS: SITL config iris_opt_flow: fix disabling of GPS fusion 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-19 10:04:30 +02:00
Silvan Fuhrer 78ddf41aa2 ROMFS: SITL plane_catapult: reduce FW_LAUN_AC_THLD to 10m/s/s to detect every throw 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-09-13 09:50:41 +02:00
Daniel Mesham 86822171b9 Add SITL targets for Iris models with depth cameras 2023-08-22 11:50:29 -04:00
Ayham AlharbatandJaeyoung Lim 1c1f8da7d9 add a gz-omnicopter model (#21818) 
* [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>
 2023-07-27 11:34:27 +02:00
Josh Henderson a07d10704b ROMFS : POSIX Airframes reserve space for custom models 2023-06-21 21:06:07 -04:00
Silvan Fuhrer f0b476bcba ROMFS: set default for VT_B_TRANS_DUR for all tailsitter configs to 5s 
5s is a more reasobale time for tailsitters, which rely differently on this param
than other VTOL types. Tailsitters will ramp the pitch up withing this time,
while for other VTOLS types its only the max transitiont time.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-29 12:25:20 +02:00
Silvan Fuhrer ee19ec4670 ROMFS: tailsitter SITL config: improve tuning after model changes 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-29 12:25:20 +02:00
Silvan Fuhrer f96073f442 ROMFS: quadtailsitter SITL config: improve tuning 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-29 12:25:20 +02:00
Julian Oes 6977fd9956 ROMFS: initial quadtailsitter tuning 
This is now using the advanced lift drag plugin.

The important step was to enable airmode for yaw, otherwise yaw gets
saturated at low throttle and we can barely roll.

The other trick was to raise airspeed a little bit to avoid operating
too much at the lower end of throttle where control authority is low.

Signed-off-by: Julian Oes <julian@oes.ch>
 2023-05-29 12:25:20 +02:00
JaeyoungLim e3aea937c3 Support quadtailsitter in SITL 2023-05-29 12:25:20 +02:00
Daniel Agar bb0f2875a9 ekf2: disable multi-EKF across mags by default (H7 & SITL) for now 
- re-enable once the estimator selector respects configured mag
priority (at least initially) or is otherwise able to automatically
prefer an external mag over internal
 - for SITL disabled because the full matrix of esitmator instances
(IMUs X mags) was too many topics for logger currently
 2023-05-19 18:35:57 -06:00
Silvan Fuhrer 9c42dcbb0b ROMFS: plane_catapult: enable launch detection and set IDLE to 0.1 to detect arming 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
Silvan Fuhrer 87c8f170ae ROMFS: FW simulations: remove re-declaration of params to vehicle default 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
Silvan Fuhrer 6fb55a8ad8 ROMFS: remove param RWTO_TKOFF from configs where only set to default again 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
Silvan Fuhrer cad61fcb84 ROMFS: remove outdated param FW_LND_AIRSPD_SC from all simulation configs 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-05-10 14:23:12 +02:00
bresch 521abecbbf ekf2: remove all remaining uses of EKF2_AID_MASK 2023-04-28 22:31:17 -04:00
Silvan Fuhrer db379c9049 airframe configs: remove params set to default in custom config from configs 
Removes duplication.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-19 10:22:10 +02:00
Silvan Fuhrer 9975db2d2f airframe configs: disable airspeed CBRK in rover and UUV defaults 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-19 10:22:10 +02:00
Silvan Fuhrer 88bf18a2fe airframe configs: remove custom tuning if close to param default and not required due to hardware 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-19 10:22:10 +02:00