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350 Commits
Author SHA1 Message Date
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
Dusan Zivkovic 29f352d49d px4-rc.simulator: set Gazebo coordinate frame reference (SIM_GZ_HOME_* params) from PX4_HOME_* env variables 2023-08-07 14:41:35 -04:00
Beat Küng 0277a6486f mavsdk_tests: add offboard attitude test & run with Q estimator 2023-08-04 11:27:31 -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
Theotime Balaguer e195a3c0c6 fix issue #21727 2023-07-21 13:13:56 +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
Alejandro Hernández Cordero be03b7f098 Allow to modify uxrce_dds_client port with a env var 
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
 2023-05-10 08:17:56 -07:00
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
Beniamino Pozzan 9e5420bbbd microdds_client: rename to uxrce_dds_client 
| | old version | new version (second proposal) |
|-|-|-|
| module name | `microdds_client` | **`uxrce_dds_client`** |
| strings / comments about the module | non consistent | **UXRCE-DDS Client** |
| menuconfig option | `MODULES_MICRODDS_CLIENT` | **`MODULES_UXRCE_DDS_CLIENT`** |
| module parameters group name | `Micro XRCE-DDS` | **UXRCE-DDS Client** |
| module parameters name prefix | `XRCE_DDS_` | `UXRCE_DDS_` |
| module class name | `MicroddsClient` | **`UxrceddsClient`** |
|`init.d/rcS` whenever the module is mentioned | `microdds` | **`uxrce_dds`** |
| main doc page name | XRCE-DDS (PX4-FastDDS Bridge) | **uXRCE-DDS (PX4-micro XRCE-DDS Bridge)**|
| environment variable to have custom namespace in simulation | PX4_MICRODDS_NS | **PX4_UXRCE_DDS_NS** |

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-05-03 11:51:53 -07:00
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
Silvan Fuhrer cbbd514c1b VTOL: increase default of VT_B_TRANS_DUR to 10s 
A default of 10s makes more sense compared to the old 4s, as this is only the
max time of a back transition and it's also decleared completed if the
speed drops below the hover cruising speed (MPC_XY_CRUISE).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-04-19 10:22:10 +02:00
Beniamino Pozzan 89a00f9505 rcS-posix: use ROS_DOMAIN_ID to set XRCE_DDS_DOM_ID 
set XRCE_DDS_KEY to MAV_SYS_ID to avoid collisions

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-04-17 20:21:05 -04:00
TheotimeBlg 67d03461d1 Port px4vision airframe to gz environment (#21409) 
* 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
 2023-04-12 18:46:49 +02:00
Daniel Agar 13487c654d ROMFS: add SITL generic iris airframe (SYS_AUTOSTART 10016) for backwards compatibility (airsim, etc) (#21410) 2023-04-01 20:41:33 +02:00
Beniamino Pozzan 448b915694 gazebo airframes: cleanup and fix missing parameters (#21411) 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-03-31 23:01:29 -07:00
bresch 89bb4622ef gazebo_tailsitter: disable multi-EKF for replayable logs 2023-03-31 15:22:38 -04:00
Beniamino Pozzan c7f67a3328 microdds_client: remove multi-instances supports, add agent IP as PX4 parameter 
- multi-instances support is removed from the parameter definitions.

- XRCE_DDS_AG_IP allows to define the agent IP when udp transport is used.
The parameter is used by default if the module is started without the -h argument.

- XRCE_DDS_PRT allows to define the agent listning udp port when the
udp transport is uded. The parameter is used by default if the module is started
without the -p argument.

- Tools/convert_ip.py assists in converting ips in decimal dot notation into int32
notation.

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-03-27 10:28:43 -07:00
Silvan Fuhrer 4d2a31afe3 Navigator: remove max distance between WP mission feasibility check (MIS_DIST_WPS) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-27 17:43:33 +02:00
Silvan Fuhrer 98d07ad1f3 disable side slip fusion for tailsitters 
The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation.
It doesn't take into account that the frames is 90deg tilted in FW flight.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-22 10:05:32 +01:00
Frederic Taillandier 91f6ab865c ROMFS: fix shellcheck error in px4-rc.simulator (#21282) 2023-03-10 07:37:45 +01:00
Tony Samaritano eb4da990c3 init.d-posix/px4-rc.simulator: adds non-default LAT and LON as optional environment variables 2023-03-09 09:40:35 -05:00
frederictaillandier eb86cb85b7 removing MOUNT_ORIENTATION on udp_gcs_port_local from typhoon 2023-03-09 12:43:47 +13:00
Jaeyoung Lim e5d5fcd315 Subscribe to vehicle odometry in GZ Bridge 
This PR subscribes to the vehicle odometry in gz bridge / Add x500_vision model
Fix transforms
F
 2023-03-06 09:27:35 -05:00
Alejandro Hernández Cordero ea6814d258 Simulation Gazebo: Use Gazebo Airpressure sensor (#21176) 
* Simulation Gazebo: Use Gazebo Airpressure sensor

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Fixed build

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* Added feedback

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* make linters happy

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

---------

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
 2023-02-22 19:32:25 +01:00
Jaeyoung Lim 5676cc32bc Optionally enable sensor simulations 2023-02-21 11:16:25 -05:00
Jaeyoung Lim 3f50bd051f Optionally enable airspeed sensor sim 
Enable and disable sensor sim module with parameter
 2023-02-15 01:37:32 +09:00
Beniamino Pozzan ea91dbb0f5 gazebo-classic_iris_vision: fix airframe include and default parameters 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-02-14 03:26:56 +09:00
Jaeyoung Lim 65c287781f Set prearm mode 2023-02-13 13:00:39 -05:00
Jaeyoung Lim df4083265f Add standard vtol airframe configs 2023-02-13 13:00:39 -05:00
Jaeyoung Lim d5ddb44241 Add sensor airspeed sim 
This commit adds the airspeed sensor sim to simulate airspeed sensors
 2023-02-13 13:00:39 -05:00
Konrad aa3af7f707 fw_pos_control: purge L1 controller 2023-02-09 17:51:55 +01:00
Beat Küng f05e8a699e ROMFS: enable COM_LOW_BAT_ACT by default for SITL 2023-02-07 19:11:29 -05:00
JaeyoungLim 01c5b3934e Tune GZ plane (rc_cessna) to fly nicely (#21077) 
* Increase control surface joint controller gains

* Enable prearm mode and disable airpspeed checks for gz plane
 2023-02-06 16:24:01 -05:00
Silvan Fuhrer e153d1defc ROMFS: fix PY asymmetry (motor 1 was wrongly placed twice as far from the CG as 0) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-02-04 16:08:40 +01:00
Benjamin PerseghettiandAlejandro Hernández Cordero 684b4a4b8a simulation/gz_bridge: rc_cessna plane model working, Gazebo Garden updates, and prepare for proper airspeed (#20989) 
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
 2023-01-24 19:01:45 -05:00