Run ignition gazebo as distributed lockstep

ign sim fix alt ground truth and baro
WIP: add X3
2026-05-26 04:27:35 +08:00 · 2022-08-15 11:15:03 +02:00 · 2022-08-14 15:22:24 -04:00 · 2022-08-14 15:15:24 -04:00 · 2022-08-14 13:04:08 -04:00 · 2022-08-14 17:14:25 +02:00
220 changed files with 32871 additions and 1484 deletions
@@ -20,7 +20,7 @@ A clear and concise description of what you expected to happen.

 ## Log Files and Screenshots
 *Always* provide a link to the flight log file:
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
 - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
 - Share the link to the log (Copy and paste the URL of the log)

@@ -53,9 +53,6 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
-[submodule "Tools/simulation-ignition"]
-	path = Tools/simulation-ignition
-	url = https://github.com/PX4/px4-simulation-ignition.git
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
@@ -6,6 +6,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
+    px4_sitl_ign:
+      short: px4_sitl_ign
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_ign
    px4_sitl_rtps:
      short: px4_sitl_rtps
      buildType: RelWithDebInfo
@@ -49,185 +49,18 @@
                "group": "test"
            }
        },
-        {
-            "label": "jmavsim build",
-            "type": "shell",
-            "command": "ant create_run_jar copy_res",
-            "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim"
-            },
-            "problemMatcher": [],
-            "presentation":{
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false,
-            }
-        },
-        {
-            "label": "jmavsim",
-            "type": "shell",
-            "dependsOn": "jmavsim build",
-            "command": "java -Djava.ext.dirs= -jar jmavsim_run.jar -r 250 -lockstep -tcp localhost:4560 -qgc",
-            "options": {
-                "cwd": "${workspaceFolder}/Tools/jMAVSim/out/production",
-                "env": {
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "jmavsim kill",
-            "type": "shell",
-            "command": "kill $(ps aux | grep jmavsim | grep -v 'grep' | awk '{print $2}')",
-            "presentation": {
-                "echo": false,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": []
-        },
-        {
-            "label": "gazebo build",
-            "type": "shell",
-            "command": "make px4_sitl_default sitl_gazebo",
-            "options": {
-                "cwd": "${workspaceFolder}"
-            },
-            "problemMatcher": [],
-            "presentation":{
-                "echo": true,
-                "reveal": "always",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false,
-            }
-        },
-        {
-            "label": "gazebo start",
-            "type": "shell",
-            "dependsOn": "gazebo build",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gzserver --verbose ${workspaceFolder}/Tools/sitl_gazebo/worlds/${input:gazeboWorld}.world",
-            "isBackground": true,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
+
        {
            "label": "gazebo",
            "type": "shell",
-            "dependsOn": "gazebo start",
            "options": {
                "cwd": "${workspaceFolder}",
                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
+                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gazebo/models",
                    "PX4_SIM_SPEED_FACTOR": "1"
                }
            },
-            "command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/sitl_gazebo/models/${input:vehicleModel}/${input:vehicleModel}.sdf --model-name=${input:vehicleModel} -x 1.01 -y 0.98 -z 0.83",
-            "isBackground": false,
-            "presentation": {
-                "echo": true,
-                "reveal": "never",
-                "focus": false,
-                "panel": "shared",
-                "showReuseMessage": false,
-                "clear": false
-            },
-            "problemMatcher": [
-                {
-                    "pattern": [
-                        {
-                            "regexp": ".",
-                            "file": 1,
-                            "location": 2,
-                            "message": 3
-                        }
-                    ],
-                    "background": {
-                        "activeOnStart": true,
-                        "beginsPattern": ".",
-                        "endsPattern": ".",
-                    }
-                }
-            ]
-        },
-        {
-            "label": "gazebo client",
-            "type": "shell",
-            "dependsOn": "gazebo build",
-            "options": {
-                "cwd": "${workspaceFolder}",
-                "env": {
-                    "GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
-                    "GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/sitl_gazebo/models",
-                    "PX4_SIM_SPEED_FACTOR": "1"
-                }
-            },
-            "command": "gzclient --verbose",
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gazebo/worlds/${input:gazeboWorld}.sdf",
            "isBackground": true,
            "presentation": {
                "echo": true,
@@ -255,10 +88,11 @@
                }
            ]
        },
+
        {
            "label": "gazebo kill",
            "type": "shell",
-            "command": "killall gzserver",
+            "command": "killall ign",
            "presentation": {
                "echo": true,
                "reveal": "silent",
@@ -270,6 +104,7 @@
            "problemMatcher": [],
            "dependsOn":["px4_sitl_cleanup"]
        },
+
        {
            "label": "px4_sitl_cleanup",
            "type": "shell",
@@ -335,39 +170,14 @@
        }
    ],
    "inputs": [
-        {
-            "type": "pickString",
-            "id": "vehicleModel",
-            "description": "gazebo model",
-            "options": [
-              "iris",
-              "typhoon_h480",
-              "plane",
-              "plane_catapult",
-              "plane_lidar",
-              "standard_vtol",
-              "tailsitter",
-              "tiltrotor",
-              "r1_rover",
-              "boat"
-            ],
-            "default": "iris"
-        },
        {
            "type": "pickString",
            "id": "gazeboWorld",
            "description": "gazebo world",
            "options": [
-                "baylands",
-                "empty",
-                "ksql_airport",
-                "mcmillan_airfield",
-                "sonoma_raceway",
-                "warehouse",
-                "windy",
-                "yosemite"
+                "x4"
            ],
-            "default": "empty"
+            "default": "x4"
        }
    ]
 }
@@ -8,7 +8,7 @@ First [fork and clone](https://help.github.com/articles/fork-a-repo) the project

 ### Create a feature branch

-*Always* branch off master for new features.
+*Always* branch off main for new features.

 ```
 git checkout -b mydescriptivebranchname
@@ -16,7 +16,7 @@ git checkout -b mydescriptivebranchname

 ### Edit and build the code

-The [developer guide](http://dev.px4.io/) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://dev.px4.io/master/en/contribute/code.html) when editing files.
+The [developer guide](https://docs.px4.io/main/en/development/development.html) explains how to set up the development environment on Mac OS, Linux or Windows. Please take note of our [coding style](https://docs.px4.io/main/en/contribute/code.html) when editing files.

 ### Commit your changes

@@ -7,7 +7,8 @@ pipeline {
    stage('Analysis') {
      when {
        anyOf {
-          branch 'master'
+          branch 'main'
+          branch 'master' // should be removed, but in case there is something going on...
          branch 'pr-jenkins' // for testing
        }
      }
@@ -204,20 +205,21 @@ pipeline {
            unstash 'msg_documentation'
            unstash 'uorb_graph'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
-              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
-              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
-              sh('cp -R modules/*.md px4_user_guide/en/modules/')
-              sh('cp -R graph_*.json px4_user_guide/.vuepress/public/en/middleware/')
-              sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
-              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd px4_user_guide; git push origin master || true')
-              sh('rm -rf px4_user_guide')
+              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/PX4-user_guide.git')
+              sh('cp airframes.md PX4-user_guide/en/airframes/airframe_reference.md')
+              sh('cp parameters.md PX4-user_guide/en/advanced_config/parameter_reference.md')
+              sh('cp -R modules/*.md PX4-user_guide/en/modules/')
+              sh('cp -R graph_*.json PX4-user_guide/.vuepress/public/en/middleware/')
+              sh('cp -R msg_docs/*.md PX4-user_guide/en/msg_docs/')
+              sh('cd PX4-user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
+              sh('cd PX4-user_guide; git push origin main || true')
+              sh('rm -rf PX4-user_guide')
            }
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -245,7 +247,8 @@ pipeline {
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -278,7 +281,8 @@ pipeline {
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -307,7 +311,8 @@ pipeline {
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -350,7 +355,8 @@ pipeline {
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -373,7 +379,8 @@ pipeline {
          }
          when {
            anyOf {
-              branch 'master'
+              branch 'main'
+              branch 'master' // should be removed, but in case there is something going on...
              branch 'pr-jenkins' // for testing
            }
          }
@@ -10,8 +10,8 @@ This repository holds the [PX4](http://px4.io) flight control solution for drone

 PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.

-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
-* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
+* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
@@ -13,12 +13,9 @@ param set-default FW_LND_ANG 8

 param set-default FW_L1_PERIOD 12

-param set-default FW_MAN_P_MAX 30
-
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15

 param set-default FW_RR_FF 0.1
@@ -13,12 +13,9 @@ param set-default FW_LND_ANG 8

 param set-default FW_L1_PERIOD 12

-param set-default FW_MAN_P_MAX 30
-
 param set-default FW_PR_P 0.9
 param set-default FW_PR_FF 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15

 param set-default FW_RR_FF 0.1
@@ -49,11 +49,9 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203

 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
@@ -44,11 +44,9 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_REV 96 # invert both elevons

 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_I 0.2
 param set-default FW_PR_P 0.2
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_P 0.2
 param set-default FW_THR_TRIM 0.33
@@ -27,9 +27,7 @@ param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05

 param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_TILT 2
 param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_TILT 4
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
@@ -56,11 +54,9 @@ param set-default PWM_MAIN_FUNC10 202
 param set-default PWM_MAIN_FUNC11 203

 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
@@ -8,11 +8,9 @@
 . ${R}etc/init.d/rc.vtol_defaults

 param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
 param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
@@ -38,7 +38,6 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30

-param set-default FW_MAN_P_MAX 30.0
 param set-default FW_MAN_R_MAX 30.0

 param set-default FW_THR_TRIM 0.8
@@ -44,7 +44,6 @@ param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_R_LIM 30

-param set-default FW_MAN_P_MAX 30.0
 param set-default FW_MAN_R_MAX 30.0

 param set-default FW_THR_CRUISE 0.8
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Ignition Gazebo X3
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_w
@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# @name Ignition Gazebo X4
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default MC_PITCHRATE_P 0.1
+param set-default MC_ROLLRATE_P 0.05
+
+set MIXER hexa_x
@@ -77,9 +77,14 @@ px4_add_romfs_files(
 	1070_boat
 	3010_quadrotor_x
 	3011_hexarotor_x
+
+	4001_x3
+
 	17001_tf-g1
 	17002_tf-g2
 	2507_cloudship
+
+	6001_x4
 	6011_typhoon_h480
 	6011_typhoon_h480.post
 	6012_typhoon_h480_ctrlalloc
@@ -1,20 +1,33 @@
 #!/bin/sh
 # shellcheck disable=SC2154

-simulator_tcp_port=$((4560+px4_instance))

-# Check if PX4_SIM_HOSTNAME environment variable is empty
-# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-# If both are empty use localhost for simulator
-if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-    echo "PX4 SIM HOST: localhost"
-    simulator start -c $simulator_tcp_port
-  else
-    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
-  fi
+if ignition_simulator start
+then
+
+	sensor_baro_sim start
+	sensor_gps_sim start
+	sensor_mag_sim start
+
 else
-  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+	simulator_tcp_port=$((4560+px4_instance))
+
+	# Check if PX4_SIM_HOSTNAME environment variable is empty
+	# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+	# If both are empty use localhost for simulator
+	if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+
+		if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+			echo "PX4 SIM HOST: localhost"
+			simulator start -c $simulator_tcp_port
+		else
+			echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+			simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+		fi
+
+	else
+		echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+		simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+	fi
+
 fi
@@ -1,6 +1,6 @@
 #!/bin/sh

-set -e
+#set -e

 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
@@ -212,6 +212,7 @@ elif ! replay tryapplyparams
 then
  . px4-rc.simulator
 fi
+
 load_mon start
 battery_simulator start
 tone_alarm start
@@ -45,7 +45,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_P_ACC 3
 param set-default MPC_Z_VEL_P_ACC 12
 param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_Z_VEL_MAX_DN 1.5

 param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
@@ -31,7 +31,6 @@ param set-default MC_YAWRATE_I 0.04
 param set-default MC_YAWRATE_MAX 40

 param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_LAND_SPEED 0.8
 param set-default MPC_YAWRAUTO_MAX 40

@@ -34,8 +34,6 @@ param set-default FW_ACRO_X_MAX   270
 param set-default FW_ACRO_Y_MAX   270
 param set-default FW_ACRO_Z_MAX   180
 param set-default FW_PSP_OFF  5
-param set-default FW_P_LIM_MAX    30
-param set-default FW_P_LIM_MIN    -30
 param set-default FW_RR_FF    0.33
 param set-default FW_RR_P 0.11

@@ -74,4 +72,4 @@ then
 	set PWM_OUT 1234
 else
 	set PWM_OUT 3456
-fi	
+fi
@@ -55,7 +55,6 @@ param set-default FW_T_SINK_MIN 1
 param set-default FW_T_VERT_ACC 6
 param set-default FW_THR_TRIM 0.70
 param set-default FW_THR_SLEW_MAX 1
-param set-default FW_MAN_P_MAX 30
 param set-default FW_P_LIM_MAX 15
 param set-default FW_P_LIM_MIN -25
 param set-default FW_P_RMAX_NEG 45
@@ -90,7 +89,6 @@ param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TILTMAX_LND 35
 param set-default MPC_Z_VEL_MAX_UP 1.5
-param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_HOLD_MAX_XY 0.5
 param set-default MPC_HOLD_MAX_Z 0.5
 param set-default MPC_TKO_RAMP_T 0.8
@@ -31,7 +31,6 @@ param set-default FW_AIRSPD_MAX 30
 param set-default FW_AIRSPD_MIN 19
 param set-default FW_AIRSPD_TRIM 23
 param set-default FW_L1_R_SLEW_MAX 40
-param set-default FW_MAN_P_MAX 30
 param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
@@ -71,7 +70,6 @@ param set-default MPC_VEL_MANUAL 3
 param set-default MPC_XY_CRUISE 3
 param set-default MPC_XY_VEL_MAX 3.5
 param set-default MPC_YAWRAUTO_MAX 40
-param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_Z_VEL_MAX_UP 2

 param set-default NAV_ACC_RAD 3
@@ -2,7 +2,7 @@
 #
 # @name Phantom FPV Flying Wing
 #
-# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
+# @url https://docs.px4.io/main/en/frames_plane/wing_wing_z84.html
 #
 # @type Flying Wing
 # @class Plane
@@ -2,7 +2,7 @@
 #
 # @name Wing Wing (aka Z-84) Flying Wing
 #
-# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
+# @url https://docs.px4.io/main/en/frames_plane/wing_wing_z84.html
 #
 # @type Flying Wing
 # @class Plane
@@ -28,7 +28,6 @@ param set-default FW_L1_PERIOD 15
 param set-default FW_LND_ANG 15
 param set-default FW_LND_FLALT 8
 param set-default FW_P_LIM_MAX 20
-param set-default FW_P_LIM_MIN -30
 param set-default FW_R_LIM 45
 param set-default FW_PR_FF 0.45
 param set-default FW_PR_P 0.005
@@ -1,7 +1,7 @@
 #!/bin/sh
 #
 # @name Spedix S250AQ
-# @url https://docs.px4.io/master/en/frames_multicopter/spedix_s250_pixracer.html
+# @url https://docs.px4.io/main/en/frames_multicopter/spedix_s250_pixracer.html
 #
 # @type Quadrotor asymmetric
 # @class Copter
@@ -2,7 +2,7 @@
 #
 # @name HolyBro QAV250
 #
-# @url https://docs.px4.io/master/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
+# @url https://docs.px4.io/main/en/frames_multicopter/holybro_qav250_pixhawk4_mini.html
 #
 # @type Quadrotor x
 # @class Copter
@@ -21,16 +21,20 @@ param set-default HTE_VXY_THR 2.0
 param set-default MIS_DIST_WPS 5000

 param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_TKO_SPEED 1
-param set-default MPC_VEL_MANUAL 3
-param set-default MPC_XY_CRUISE 3
+param set-default MPC_VEL_MANUAL 5
+param set-default MPC_XY_CRUISE 5
 param set-default MPC_XY_ERR_MAX 5
-param set-default MPC_XY_VEL_MAX 4
-param set-default MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_XY_VEL_MAX 8
 param set-default MPC_JERK_MAX 4.5
 param set-default MPC_YAW_MODE 4

-param set-default NAV_ACC_RAD 3
+# reduce aggressiveness around roll and yaw axis,
+# as VTOLs usually have high intertia and lot af drag due to wings
+param set-default MC_ROLL_P 5
+param set-default MC_ROLLRATE_MAX 120
+param set-default MC_YAW_P 2
+param set-default MC_YAWRATE_MAX 120
+param set-default MPC_MAN_Y_MAX 90

 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 400
@@ -330,7 +330,7 @@ def get_mixers(yaml_config, output_functions, verbose):
        option = select_param + '==' + str(type_index)
        mixer_config = {
                'option': option,
-                'help-url': 'https://docs.px4.io/master/en/config/actuators.html',
+                'help-url': 'https://docs.px4.io/main/en/config/actuators.html',
            }
        for optional in ['type', 'title']:
            if optional in current_type:
@@ -8,7 +8,7 @@ class MarkdownTablesOutput():
        result = """# Airframes Reference

 :::note
-**This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/px4airframes/markdownout.py) from the source code** using the build command: `make airframe_metadata`.
+**This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/px4airframes/markdownout.py) from the source code** using the build command: `make airframe_metadata`.
 :::

 This page lists all supported airframes and types including the motor assignment and numbering.
@@ -69,7 +69,7 @@ The generated files will be written to the `modules` directory.
        result = ''
        for module in module_list:
            result += "## %s\n" % module.name()
-            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/master/src/%s)\n\n" % (module.scope(), module.scope())
+            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/main/src/%s)\n\n" % (module.scope(), module.scope())
            doc = module.documentation()
            if len(doc) > 0:
                result += "%s\n" % doc
@@ -12,7 +12,7 @@ class ModuleDocumentation(object):
    """

    # If you add categories or subcategories, they also need to be added to the
-    # TOC in https://github.com/PX4/Devguide/blob/master/en/SUMMARY.md
+    # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
@@ -331,7 +331,7 @@ class uploader(object):

        except NotImplementedError:
            raise RuntimeError("Programing not supported for this version of silicon!\n"
-                               "See https://docs.px4.io/master/en/flight_controller/silicon_errata.html")
+                               "See https://docs.px4.io/main/en/flight_controller/silicon_errata.html")
        except RuntimeError:
            # timeout, no response yet
            return False
@@ -1,23 +0,0 @@
-#!/bin/bash
-#
-# Setup environment to make PX4 visible to Gazebo.
-#
-# Note, this is not necessary if using a ROS catkin workspace with the px4
-# package as the paths are exported.
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-
-if [ "$#" != 2 ]; then
-    echo -e "usage: source setup_gazebo.bash src_dir build_dir\n"
-    return 1
-fi
-
-SRC_DIR=$1
-BUILD_DIR=$2
-
-# setup Gazebo env and update package path
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
-export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$IGN_GAZEBO_SYSTEM_PLUGIN_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
-export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:${SRC_DIR}/Tools/simulation-ignition/models
-
-echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>x3</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Carlos Aguero</name>
+    <email>caguero@openrobotics.org</email>
+  </author>
+
+  <author>
+    <name>Cole Biesemeyer</name>
+    <email>cole@openrobotics.org</email>
+  </author>
+
+  <description>
+  </description>
+</model>
@@ -0,0 +1,374 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version="1.6">
+   <model name="X3">
+      <pose>0 0 0.053302 0 0 0</pose>
+      <link name="base_link">
+         <pose frame="">0 0 0 0 -0 0</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>1.5</mass>
+            <inertia>
+               <ixx>0.0347563</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>0.07</iyy>
+               <iyz>0</iyz>
+               <izz>0.0977</izz>
+            </inertia>
+         </inertial>
+         <collision name="base_link_inertia_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <box>
+                  <size>0.47 0.47 0.11</size>
+               </box>
+            </geometry>
+         </collision>
+         <visual name="base_link_inertia_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/x3.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <sensor name="imu_sensor" type="imu">
+            <always_on>1</always_on>
+            <update_rate>250</update_rate>
+         </sensor>
+      </link>
+      <link name="rotor_0">
+         <pose frame="">0.13 -0.22 0.023 0 -0 0</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>4.17041e-05</iyy>
+               <iyz>0</iyz>
+               <izz>4.26041e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_0_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_0_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>0.1 0.1 0.1</scale>
+                  <uri>meshes/propeller_ccw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <script>
+                  <name>Gazebo/Blue</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_0_joint" type="revolute">
+         <child>rotor_0</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0 0 1</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_1">
+         <pose frame="">-0.13 0.2 0.023 0 -0 0</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>4.17041e-05</iyy>
+               <iyz>0</iyz>
+               <izz>4.26041e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_1_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_1_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>0.1 0.1 0.1</scale>
+                  <uri>meshes/propeller_ccw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <script>
+                  <name>Gazebo/Red</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_1_joint" type="revolute">
+         <child>rotor_1</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0 0 1</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_2">
+         <pose frame="">0.13 0.22 0.023 0 -0 0</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>4.17041e-05</iyy>
+               <iyz>0</iyz>
+               <izz>4.26041e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_2_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_2_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>0.1 0.1 0.1</scale>
+                  <uri>meshes/propeller_cw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <script>
+                  <name>Gazebo/Blue</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_2_joint" type="revolute">
+         <child>rotor_2</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0 0 1</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_3">
+         <pose frame="">-0.13 -0.2 0.023 0 -0 0</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>4.17041e-05</iyy>
+               <iyz>0</iyz>
+               <izz>4.26041e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_3_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_3_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>0.1 0.1 0.1</scale>
+                  <uri>meshes/propeller_cw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <script>
+                  <name>Gazebo/Red</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_3_joint" type="revolute">
+         <child>rotor_3</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0 0 1</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X3</robotNamespace>
+         <jointName>rotor_0_joint</jointName>
+         <linkName>rotor_0</linkName>
+         <turningDirection>ccw</turningDirection>
+         <timeConstantUp>0.0125</timeConstantUp>
+         <timeConstantDown>0.025</timeConstantDown>
+         <maxRotVelocity>800.0</maxRotVelocity>
+         <motorConstant>8.54858e-06</motorConstant>
+         <momentConstant>0.016</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>0</motorNumber>
+         <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+         <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X3</robotNamespace>
+         <jointName>rotor_1_joint</jointName>
+         <linkName>rotor_1</linkName>
+         <turningDirection>ccw</turningDirection>
+         <timeConstantUp>0.0125</timeConstantUp>
+         <timeConstantDown>0.025</timeConstantDown>
+         <maxRotVelocity>800.0</maxRotVelocity>
+         <motorConstant>8.54858e-06</motorConstant>
+         <momentConstant>0.016</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>1</motorNumber>
+         <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+         <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X3</robotNamespace>
+         <jointName>rotor_2_joint</jointName>
+         <linkName>rotor_2</linkName>
+         <turningDirection>cw</turningDirection>
+         <timeConstantUp>0.0125</timeConstantUp>
+         <timeConstantDown>0.025</timeConstantDown>
+         <maxRotVelocity>800.0</maxRotVelocity>
+         <motorConstant>8.54858e-06</motorConstant>
+         <momentConstant>0.016</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>2</motorNumber>
+         <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+         <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X3</robotNamespace>
+         <jointName>rotor_3_joint</jointName>
+         <linkName>rotor_3</linkName>
+         <turningDirection>cw</turningDirection>
+         <timeConstantUp>0.0125</timeConstantUp>
+         <timeConstantDown>0.025</timeConstantDown>
+         <maxRotVelocity>800.0</maxRotVelocity>
+         <motorConstant>8.54858e-06</motorConstant>
+         <momentConstant>0.016</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>3</motorNumber>
+         <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
+         <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+   </model>
+</sdf>
@@ -0,0 +1,529 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-08-21T21:36:07Z</created><keywords></keywords><modified>2018-08-21T21:36:07Z</modified><revision></revision><subject></subject><title></title><unit meter="1.000000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
+  <library_images>
+    <image id="LEDIndicator_ncl1_2-image" name="LEDIndicator_ncl1_2"><init_from>../materials/textures/led.jpg</init_from></image>
+  </library_images>
+  <library_materials>
+    <material id="LEDIndicator_ncl1_1" name="LEDIndicator_ncl1_1">
+      <instance_effect url="#LEDIndicator_ncl1_1-fx"/>
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="LEDIndicator_ncl1_1-fx" name="LEDIndicator_ncl1_1">
+      <profile_COMMON>
+        <technique sid="standard">
+          <phong>
+            <emission>
+              <color sid="emission">0.000000  0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.588235  0.588235 0.588235 1.000000</color>
+            </ambient>
+            <diffuse>
+              <texture texture="LEDIndicator_ncl1_2-image" texcoord="CHANNEL0">
+                <extra>
+                  <technique profile="MAYA">
+                    <wrapU sid="wrapU0">TRUE</wrapU>
+                    <wrapV sid="wrapV0">TRUE</wrapV>
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+        <triangles count="94" material="LEDIndicator_ncl1_1"><input semantic="VERTEX" offset="0" source="#LEDIndicator-VERTEX"/><input semantic="NORMAL" offset="1" source="#LEDIndicator-Normal0"/><input semantic="TEXCOORD" offset="2" set="0" source="#LEDIndicator-UV0"/><p> 38 0 0 12 1 1 0 2 2 38 3 0 0 4 2 1 5 3 2 6 5 0 7 2 12 8 1 12 9 1 15 10 4 2 11 5 3 12 6 1 13 3 0 14 2 0 15 2 2 16 5 3 17 6 4 18 8 2 19 5 15 20 4 15 21 4 18 22 7 4 23 8 5 24 9 3 25 6 2 26 5 2 27 5 4 28 8 5 29 9 4 30 8 18 31 7 7 32 10 6 33 11 7 34 10 9 35 12 9 36 12 8 37 13 6 38 11 6 39 11 5 40 9 4 41 8 4 42 8 7 43 10 6 44 11 38 45 14 10 46 15 11 47 16 38 48 14 11 49 16 12 50 17 14 51 19 11 52 16 10 53 15 10 54 15 13 55 18 14 56 19 15 57 20 12 58 17 11 59 16 11 60 16 14 61 19 15 62 20 17 63 22 14 64 19 13 65 18 13 66 18 16 67 21 17 68 22 18 69 23 15 70 20 14 71 19 14 72 19 17 73 22 18 74 23 17 75 22 16 76 21 45 77 24 7 78 25 45 79 24 47 80 26 47 81 26 9 82 27 7 83 25 7 84 25 18 85 23 17 86 22 17 87 22 45 88 24 7 89 25 38 90 28 1 91 29 19 92 30 38 93 28 19 94 30 23 95 31 20 96 33 19 97 30 1 98 29 1 99 29 3 100 32 20 101 33 21 102 34 23 103 31 19 104 30 19 105 30 20 106 33 21 107 34 22 108 36 20 109 33 3 110 32 3 111 32 5 112 35 22 113 36 27 114 37 21 115 34 20 116 33 20 117 33 22 118 36 27 119 37 22 120 36 5 121 35 6 122 38 29 123 39 6 124 38 8 125 40 8 126 40 30 127 41 29 128 39 29 129 39 27 130 37 22 131 36 22 132 36 6 133 38 29 134 39 38 135 42 23 136 43 24 137 44 38 138 42 24 139 44 25 140 45 26 141 47 24 142 44 23 143 43 23 144 43 21 145 46 26 146 47 32 147 48 25 148 45 24 149 44 24 150 44 26 151 47 32 152 48 28 153 50 26 154 47 21 155 46 21 156 46 27 157 49 28 158 50 34 159 51 32 160 48 26 161 47 26 162 47 28 163 50 34 164 51 28 165 50 27 166 49 29 167 52 36 168 53 29 169 52 30 170 54 30 171 54 37 172 55 36 173 53 36 174 53 34 175 51 28 176 50 28 177 50 29 178 52 36 179 53 38 180 56 25 181 57 31 182 58 38 183 56 31 184 58 39 185 59 33 186 61 31 187 58 25 188 57 25 189 57 32 190 60 33 191 61 41 192 62 39 193 59 31 194 58 31 195 58 33 196 61 41 197 62 35 198 64 33 199 61 32 200 60 32 201 60 34 202 63 35 203 64 43 204 65 41 205 62 33 206 61 33 207 61 35 208 64 43 209 65 35 210 64 34 211 63 36 212 66 46 213 67 36 214 66 37 215 68 37 216 68 48 217 69 46 218 67 46 219 67 43 220 65 35 221 64 35 222 64 36 223 66 46 224 67 38 225 70 39 226 71 40 227 72 38 228 70 40 229 72 10 230 73 42 231 75 40 232 72 39 233 71 39 234 71 41 235 74 42 236 75 13 237 76 10 238 73 40 239 72 40 240 72 42 241 75 13 242 76 44 243 78 42 244 75 41 245 74 41 246 74 43 247 77 44 248 78 16 249 79 13 250 76 42 251 75 42 252 75 44 253 78 16 254 79 44 255 78 43 256 77 46 257 80 45 258 81 46 259 80 48 260 82 48 261 82 47 262 83 45 263 81 45 264 81 16 265 79 44 266 78 44 267 78 46 268 80 45 269 81 47 270 85 48 271 86 37 272 87 37 273 87 30 274 88 8 275 89 47 276 85 37 277 87 8 278 89 9 279 84 47 280 85 8 281 89</p></triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="LEDIndicator" name="LEDIndicator">
+      <node name="HuskyReplacement" id="HuskyReplacement" sid="HuskyReplacement"><matrix sid="matrix">0.100000 0.000000 0.000000 0.000000 0.000000 0.099400 0.000000 0.000000 0.000000 0.000000 0.100000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra><node name="LEDIndicator" id="LEDIndicator" sid="LEDIndicator"><matrix sid="matrix">1.000000 -0.000000 -0.000000 0.000000 0.000000 1.000000 -0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix><instance_geometry url="#LEDIndicator-lib"><bind_material><technique_common><instance_material symbol="LEDIndicator_ncl1_1" target="#LEDIndicator_ncl1_1"/></technique_common></bind_material></instance_geometry><extra><technique profile="FCOLLADA"><visibility>1.000000</visibility></technique></extra></node></node>
+      <extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#LEDIndicator"></instance_visual_scene>
+  </scene>
+</COLLADA>
@@ -0,0 +1,66 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+    <asset>
+        <contributor>
+            <author>VCGLab</author>
+            <authoring_tool>VCGLib | MeshLab</authoring_tool>
+        </contributor>
+        <created>Wed Aug 22 18:54:08 2018 GMT</created>
+        <modified>Wed Aug 22 18:54:08 2018 GMT</modified>
+        <up_axis>Y_UP</up_axis>
+    </asset>
+    <library_geometries>
+        <geometry id="shape0-lib" name="shape0">
+            <mesh>
+                <source id="shape0-lib-positions" name="position">
+                    <float_array id="shape0-lib-positions-array" count="147">-0.0068518 0 0.0202589 -0.0059339 -0.00342592 0.0202589 -0.0118677 0 0.0152431 -0.0102777 -0.00593378 0.0152431 -0.0137036 0 0.0083912 -0.0118677 -0.00685184 0.0083912 -0.0179977 -0.010391 0.0036913 -0.0179977 0.010391 0.0036913 -0.0179977 -0.010391 4.45e-05 -0.0179977 0.010391 4.45e-05 0 0.00685184 0.0202589 -0.0034259 0.00593388 0.0202589 -0.0059338 0.00342592 0.0202589 0 0.0118677 0.0152431 -0.0059338 0.0102777 0.0152431 -0.0102777 0.00593388 0.0152431 0 0.0137036 0.0083912 -0.0068518 0.0118677 0.0083912 -0.0118677 0.00685184 0.0083912 -0.0034259 -0.00593388 0.0202589 -0.0059339 -0.0102777 0.0152431 0 -0.0118677 0.0152431 -0.0068518 -0.0118677 0.0083912 0 -0.00685184 0.0202589 0.0034259 -0.00593388 0.0202589 0.0059338 -0.00342592 0.0202589 0.0059338 -0.0102777 0.0152431 0 -0.0137036 0.0083912 0.0068518 -0.0118677 0.0083912 0 -0.020782 0.0036913 0 -0.020782 4.45e-05 0.0068518 0 0.0202589 0.0102777 -0.00593388 0.0152431 0.0118677 0 0.0152431 0.0118677 -0.00685184 0.0083912 0.0137036 0 0.0083912 0.0179977 -0.010391 0.0036913 0.0179977 -0.010391 4.45e-05 0 0 0.0220949 0.0059339 0.00342592 0.0202589 0.0034259 0.00593388 0.0202589 0.0102777 0.00593378 0.0152431 0.0059339 0.0102777 0.0152431 0.0118677 0.00685184 0.0083912 0.0068518 0.0118677 0.0083912 0 0.020782 0.0036913 0.0179977 0.010391 0.0036913 0 0.020782 4.45e-05 0.0179977 0.010391 4.45e-05</float_array>
+                    <technique_common>
+                        <accessor count="49" source="#shape0-lib-positions-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="shape0-lib-normals" name="normal">
+                    <float_array id="shape0-lib-normals-array" count="180">-0.258207 0.0691885 0.963609 -0.258207 -0.069181 0.963609 -0.694739 0.18616 0.694753 -0.694739 0.186157 0.694754 -0.694754 -0.186144 0.694743 -0.694739 -0.18616 0.694753 -0.935114 0.250567 0.250555 -0.935115 0.250557 0.250563 -0.93511 -0.25057 0.250567 -0.935117 -0.250558 0.250555 -0.0691854 0.258206 0.963609 -0.189023 0.189018 0.963609 -0.186156 0.694749 0.694744 -0.186162 0.694744 0.694747 -0.50859 0.508578 0.694756 -0.508583 0.508597 0.694746 -0.250569 0.935111 0.250566 -0.250561 0.935115 0.250557 -0.684541 0.68456 0.250561 -0.684544 0.684555 0.250566 -0.189018 -0.189021 0.96361 -0.0691854 -0.258206 0.963609 -0.508583 -0.508591 0.694751 -0.508596 -0.508586 0.694745 -0.186155 -0.694745 0.694748 -0.186159 -0.694746 0.694746 -0.684558 -0.684545 0.250556 -0.684544 -0.684554 0.250571 -0.250566 -0.935114 0.250557 -0.250561 -0.935114 0.250562 0.0691854 -0.258206 0.963609 0.189023 -0.189018 0.963609 0.186156 -0.694749 0.694744 0.186162 -0.694744 0.694747 0.50859 -0.508578 0.694756 0.508583 -0.508597 0.694746 0.250569 -0.935111 0.250566 0.250561 -0.935115 0.250557 0.684541 -0.68456 0.250561 0.684544 -0.684555 0.250566 0.258207 -0.0691885 0.963609 0.258207 0.069181 0.963609 0.694739 -0.18616 0.694753 0.694739 -0.186157 0.694754 0.694754 0.186144 0.694743 0.694739 0.18616 0.694753 0.935114 -0.250567 0.250555 0.935115 -0.250557 0.250563 0.93511 0.25057 0.250567 0.935117 0.250558 0.250555 0.189018 0.189021 0.96361 0.0691854 0.258206 0.963609 0.508583 0.508591 0.694751 0.508596 0.508586 0.694745 0.186155 0.694745 0.694748 0.186159 0.694746 0.694746 0.684558 0.684545 0.250556 0.684544 0.684554 0.250571 0.250566 0.935114 0.250557 0.250561 0.935114 0.250562</float_array>
+                    <technique_common>
+                        <accessor count="60" source="#shape0-lib-normals-array" stride="3">
+                            <param name="X" type="float"/>
+                            <param name="Y" type="float"/>
+                            <param name="Z" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <source id="shape0-lib-map" name="map">
+                    <float_array id="shape0-lib-map-array" count="360">0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0</float_array>
+                    <technique_common>
+                        <accessor count="180" source="#shape0-lib-map-array" stride="2">
+                            <param name="U" type="float"/>
+                            <param name="V" type="float"/>
+                        </accessor>
+                    </technique_common>
+                </source>
+                <vertices id="shape0-lib-vertices">
+                    <input semantic="POSITION" source="#shape0-lib-positions"/>
+                </vertices>
+                <triangles count="60">
+                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+                    <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
+                    <input offset="2" semantic="TEXCOORD" source="#shape0-lib-map"/>
+                    <p>38 0 0 12 0 1 0 0 2 38 1 3 0 1 4 1 1 5 2 2 6 0 2 7 12 2 8 12 3 9 15 3 10 2 3 11 3 4 12 1 4 13 0 4 14 0 5 15 2 5 16 3 5 17 4 6 18 2 6 19 15 6 20 15 7 21 18 7 22 4 7 23 5 8 24 3 8 25 2 8 26 2 9 27 4 9 28 5 9 29 38 10 30 10 10 31 11 10 32 38 11 33 11 11 34 12 11 35 14 12 36 11 12 37 10 12 38 10 13 39 13 13 40 14 13 41 15 14 42 12 14 43 11 14 44 11 15 45 14 15 46 15 15 47 17 16 48 14 16 49 13 16 50 13 17 51 16 17 52 17 17 53 18 18 54 15 18 55 14 18 56 14 19 57 17 19 58 18 19 59 38 20 60 1 20 61 19 20 62 38 21 63 19 21 64 23 21 65 20 22 66 19 22 67 1 22 68 1 23 69 3 23 70 20 23 71 21 24 72 23 24 73 19 24 74 19 25 75 20 25 76 21 25 77 22 26 78 20 26 79 3 26 80 3 27 81 5 27 82 22 27 83 27 28 84 21 28 85 20 28 86 20 29 87 22 29 88 27 29 89 38 30 90 23 30 91 24 30 92 38 31 93 24 31 94 25 31 95 26 32 96 24 32 97 23 32 98 23 33 99 21 33 100 26 33 101 32 34 102 25 34 103 24 34 104 24 35 105 26 35 106 32 35 107 28 36 108 26 36 109 21 36 110 21 37 111 27 37 112 28 37 113 34 38 114 32 38 115 26 38 116 26 39 117 28 39 118 34 39 119 38 40 120 25 40 121 31 40 122 38 41 123 31 41 124 39 41 125 33 42 126 31 42 127 25 42 128 25 43 129 32 43 130 33 43 131 41 44 132 39 44 133 31 44 134 31 45 135 33 45 136 41 45 137 35 46 138 33 46 139 32 46 140 32 47 141 34 47 142 35 47 143 43 48 144 41 48 145 33 48 146 33 49 147 35 49 148 43 49 149 38 50 150 39 50 151 40 50 152 38 51 153 40 51 154 10 51 155 42 52 156 40 52 157 39 52 158 39 53 159 41 53 160 42 53 161 13 54 162 10 54 163 40 54 164 40 55 165 42 55 166 13 55 167 44 56 168 42 56 169 41 56 170 41 57 171 43 57 172 44 57 173 16 58 174 13 58 175 42 58 176 42 59 177 44 59 178 16 59 179</p>
+                </triangles>
+            </mesh>
+        </geometry>
+    </library_geometries>
+    <library_visual_scenes>
+        <visual_scene id="VisualSceneNode" name="VisualScene">
+            <node id="node" name="node">
+                <instance_geometry url="#shape0-lib"/>
+            </node>
+        </visual_scene>
+    </library_visual_scenes>
+    <scene>
+        <instance_visual_scene url="#VisualSceneNode"/>
+    </scene>
+</COLLADA>
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>X4_GPS_RGBD</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+
+  <author>
+    <name>Luis Pinto</name>
+    <email>luis.pinto@mov.ai</email>
+  </author>
+
+
+  <description>
+    X4 UAV with sensor configuration #1: IMU, pressure sensor, magnetometer + GPS , RGBD
+  </description>
+</model>
@@ -0,0 +1,827 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version="1.6">
+   <model name="X4">
+      <pose>0 0 0.121078 0 0 0</pose>
+      <link name="base_link">
+         <pose frame="">0 0 0 0 -0 0</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>3.42</mass>
+            <inertia>
+               <ixx>0.075</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>0.075</iyy>
+               <iyz>0</iyz>
+               <izz>0.148916</izz>
+            </inertia>
+         </inertial>
+         <collision name="base_link_inertia_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <box>
+                  <size>0.3 0.3 0.25</size>
+               </box>
+            </geometry>
+         </collision>
+         <visual name="base_link_inertia_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/x4.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <visual name="marker_visual_1">
+            <pose frame="">-0.1 0 0.077 0 -0.1 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/led.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <visual name="marker_visual_2">
+            <pose frame="">-0.09 0.059 0.059 -0.785397 -0 0.2</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/led.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <visual name="marker_visual_3">
+            <pose frame="">-0.09 -0.059 0.059 0.785397 -0 -0.2</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/led.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <visual name="downward_flashlight_visual">
+            <pose frame="">-0.043704 0 0.102914 -0.2 0.000158 -1.57002</pose>
+            <geometry>
+               <mesh>
+                  <scale>0.01 0.01 0.01</scale>
+                  <uri>meshes/spotlight.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <visual name="left_flashlight_visual">
+            <pose frame="">-0.071985 0.090826 0.066102 0.06 -4.8e-05 -1.27</pose>
+            <geometry>
+               <mesh>
+                  <scale>0.01 0.01 0.01</scale>
+                  <uri>meshes/spotlight.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <visual name="right_flashlight_visual">
+            <pose frame="">-0.071985 -0.090826 0.066102 0.06 -4.8e-05 -1.87</pose>
+            <geometry>
+               <mesh>
+                  <scale>0.01 0.01 0.01</scale>
+                  <uri>meshes/spotlight.dae</uri>
+               </mesh>
+            </geometry>
+         </visual>
+         <light name="right_light_source" type="spot">
+            <pose frame="">-0.0 -0.11 0.07 3.131592653589795 -1.5107899999999999 2.841592653589791</pose>
+            <attenuation>
+               <range>15</range>
+               <linear>0</linear>
+               <constant>0.1</constant>
+               <quadratic>0.01</quadratic>
+            </attenuation>
+            <diffuse>0.8 0.8 0.5 1</diffuse>
+            <specular>0.8 0.8 0.5 1</specular>
+            <spot>
+               <inner_angle>1</inner_angle>
+               <outer_angle>1.1</outer_angle>
+               <falloff>1</falloff>
+            </spot>
+            <direction>0 0 -1</direction>
+            <cast_shadows>1</cast_shadows>
+         </light>
+         <light name="downward_flashlight_source" type="spot">
+            <pose frame="">0.03 0 0.09 -0.01 -1.3708026535897933 0</pose>
+            <attenuation>
+               <range>15</range>
+               <linear>0</linear>
+               <constant>0.1</constant>
+               <quadratic>0.01</quadratic>
+            </attenuation>
+            <diffuse>0.8 0.8 0.5 1</diffuse>
+            <specular>0.8 0.8 0.5 1</specular>
+            <spot>
+               <inner_angle>1</inner_angle>
+               <outer_angle>1.1</outer_angle>
+               <falloff>1</falloff>
+            </spot>
+            <direction>0 0 -1</direction>
+            <cast_shadows>1</cast_shadows>
+         </light>
+         <light name="left_flashlight_source" type="spot">
+            <pose frame="">-0.0 0.11 0.07 3.131592653589795 -1.5107899999999999 -2.841592653589791</pose>
+            <attenuation>
+               <range>15</range>
+               <linear>0</linear>
+               <constant>0.1</constant>
+               <quadratic>0.01</quadratic>
+            </attenuation>
+            <diffuse>0.8 0.8 0.5 1</diffuse>
+            <specular>0.8 0.8 0.5 1</specular>
+            <spot>
+               <inner_angle>1</inner_angle>
+               <outer_angle>1.1</outer_angle>
+               <falloff>1</falloff>
+            </spot>
+            <direction>0 0 -1</direction>
+            <cast_shadows>1</cast_shadows>
+         </light>
+         <sensor name="imu_sensor" type="imu">
+            <always_on>1</always_on>
+            <update_rate>250</update_rate>
+            <imu>
+               <angular_velocity>
+                  <x>
+                     <noise type="gaussian">
+                        <mean>0</mean>
+                        <stddev>0.009</stddev>
+                        <bias_mean>0.00075</bias_mean>
+                        <bias_stddev>0.005</bias_stddev>
+                        <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                        <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                        <precision>0.00025</precision>
+                     </noise>
+                  </x>
+                  <y>
+                     <noise type="gaussian">
+                        <mean>0</mean>
+                        <stddev>0.009</stddev>
+                        <bias_mean>0.00075</bias_mean>
+                        <bias_stddev>0.005</bias_stddev>
+                        <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                        <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                        <precision>0.00025</precision>
+                     </noise>
+                  </y>
+                  <z>
+                     <noise type="gaussian">
+                        <mean>0</mean>
+                        <stddev>0.009</stddev>
+                        <bias_mean>0.00075</bias_mean>
+                        <bias_stddev>0.005</bias_stddev>
+                        <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+                        <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+                        <precision>0.00025</precision>
+                     </noise>
+                  </z>
+               </angular_velocity>
+               <linear_acceleration>
+                  <x>
+                     <noise type="gaussian">
+                        <mean>0</mean>
+                        <stddev>0.021</stddev>
+                        <bias_mean>0.05</bias_mean>
+                        <bias_stddev>0.0075</bias_stddev>
+                        <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                        <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                        <precision>0.005</precision>
+                     </noise>
+                  </x>
+                  <y>
+                     <noise type="gaussian">
+                        <mean>0</mean>
+                        <stddev>0.021</stddev>
+                        <bias_mean>0.05</bias_mean>
+                        <bias_stddev>0.0075</bias_stddev>
+                        <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                        <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                        <precision>0.005</precision>
+                     </noise>
+                  </y>
+                  <z>
+                     <noise type="gaussian">
+                        <mean>0</mean>
+                        <stddev>0.021</stddev>
+                        <bias_mean>0.05</bias_mean>
+                        <bias_stddev>0.0075</bias_stddev>
+                        <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                        <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+                        <precision>0.005</precision>
+                     </noise>
+                  </z>
+               </linear_acceleration>
+            </imu>
+         </sensor>
+
+         <visual name="camera_mount_base_visual">
+            <pose>0.05 0 -0.030 0 0.0 0</pose>
+            <geometry>
+               <box>
+                  <size>0.06 0.06 0.006</size>
+               </box>
+            </geometry>
+         </visual>
+         <visual name="camera_mount_arm_visual">
+            <pose>0.08 0 -0.040 0 0.0 0</pose>
+            <geometry>
+               <cylinder>
+                  <radius>0.005</radius>
+                  <length>0.08</length>
+               </cylinder>
+            </geometry>
+         </visual>
+         <visual name="camera_mount_arm2_visual">
+            <pose>0.08 0 -0.08 0 1.57 0</pose>
+            <geometry>
+               <cylinder>
+                  <radius>0.01</radius>
+                  <length>0.025</length>
+               </cylinder>
+            </geometry>
+         </visual>
+         <visual name="camera_visual">
+            <pose>0.1 0 -0.08 0 0 0</pose>
+            <geometry>
+               <box>
+                  <size>0.02 0.025 0.025</size>
+               </box>
+            </geometry>
+         </visual>
+         <sensor name="camera_front" type="rgbd_camera">
+            <pose>0.2 0 0 0 +.785 0</pose>
+            <always_on>1</always_on>
+            <update_rate>20</update_rate>
+            <camera name="camera_front">
+               <horizontal_fov>1.0472</horizontal_fov>
+               <lens>
+                  <intrinsics>
+                     <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
+                     <fx>277.1</fx>
+                     <fy>277.1</fy>
+                     <!-- cx = ( width + 1 ) / 2 -->
+                     <cx>160.5</cx>
+                     <!-- cy = ( height + 1 ) / 2 -->
+                     <cy>120.5</cy>
+                     <s>0</s>
+                  </intrinsics>
+               </lens>
+               <distortion>
+                  <k1>0.0</k1>
+                  <k2>0.0</k2>
+                  <k3>0.0</k3>
+                  <p1>0.0</p1>
+                  <p2>0.0</p2>
+                  <center>0.5 0.5</center>
+               </distortion>
+               <image>
+                  <width>320</width>
+                  <height>240</height>
+                  <format>R8G8B8</format>
+               </image>
+               <clip>
+                  <near>0.01</near>
+                  <far>300</far>
+               </clip>
+               <depth_camera>
+                  <clip>
+                     <near>0.1</near>
+                     <far>10</far>
+                  </clip>
+               </depth_camera>
+               <noise>
+                  <type>gaussian</type>
+                  <mean>0</mean>
+                  <stddev>0.007</stddev>
+               </noise>
+            </camera>
+         </sensor>
+      </link>
+      <link name="rotor_0">
+         <pose frame="">0.247 0.1506 0.028 0.087267 0 0.523599</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>8.13545e-05</iyy>
+               <iyz>0</iyz>
+               <izz>8.22545e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_0_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1397</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_0_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/neo11_propeller_ccw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <diffuse>1 0 0 1</diffuse>
+               <script>
+                  <name>Gazebo/Red</name>
+                  <uri>file:///media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+            <cast_shadows>0</cast_shadows>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_0_joint" type="revolute">
+         <child>rotor_0</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0.043578 -0.075479 0.996195</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_1">
+         <pose frame="">-0.00067 0.28929 0.028 0 -0.087267 0</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>8.13545e-05</iyy>
+               <iyz>0</iyz>
+               <izz>8.22545e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_1_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1397</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_1_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/neo11_propeller_cw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <diffuse>0 0 1 1</diffuse>
+               <script>
+                  <name>Gazebo/Blue</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+            <cast_shadows>0</cast_shadows>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_1_joint" type="revolute">
+         <child>rotor_1</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>-0.087156 0 0.996195</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_2">
+         <pose frame="">-0.2501 0.1454 0.028 0.087267 -0 2.61799</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>8.13545e-05</iyy>
+               <iyz>0</iyz>
+               <izz>8.22545e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_2_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1397</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_2_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/neo11_propeller_ccw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <diffuse>0 0 1 1</diffuse>
+               <script>
+                  <name>Gazebo/Blue</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+            <cast_shadows>0</cast_shadows>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_2_joint" type="revolute">
+         <child>rotor_2</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0.043578 0.075479 0.996195</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_3">
+         <pose frame="">-0.2501 -0.1454 0.028 -0.087267 -0 -2.61799</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>8.13545e-05</iyy>
+               <iyz>0</iyz>
+               <izz>8.22545e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_3_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1397</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_3_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/neo11_propeller_cw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <diffuse>0 0 1 1</diffuse>
+               <script>
+                  <name>Gazebo/Blue</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+            <cast_shadows>0</cast_shadows>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_3_joint" type="revolute">
+         <child>rotor_3</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0.043578 -0.075479 0.996195</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_4">
+         <pose frame="">-0.00067 -0.28929 0.028 -0 0.087267 -3.14159</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>8.13545e-05</iyy>
+               <iyz>0</iyz>
+               <izz>8.22545e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_4_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1397</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_4_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/neo11_propeller_ccw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <diffuse>0 0 1 1</diffuse>
+               <script>
+                  <name>Gazebo/Blue</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+            <cast_shadows>0</cast_shadows>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_4_joint" type="revolute">
+         <child>rotor_4</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>-0.087156 -0 0.996195</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <link name="rotor_5">
+         <pose frame="">0.247 -0.1506 0.028 -0.087267 0 -0.523599</pose>
+         <inertial>
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <mass>0.005</mass>
+            <inertia>
+               <ixx>9.75e-07</ixx>
+               <ixy>0</ixy>
+               <ixz>0</ixz>
+               <iyy>8.13545e-05</iyy>
+               <iyz>0</iyz>
+               <izz>8.22545e-05</izz>
+            </inertia>
+         </inertial>
+         <collision name="rotor_5_collision">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <cylinder>
+                  <length>0.005</length>
+                  <radius>0.1397</radius>
+               </cylinder>
+            </geometry>
+            <surface>
+               <contact>
+                  <ode />
+               </contact>
+               <friction>
+                  <ode />
+               </friction>
+            </surface>
+         </collision>
+         <visual name="rotor_5_visual">
+            <pose frame="">0 0 0 0 -0 0</pose>
+            <geometry>
+               <mesh>
+                  <scale>1 1 1</scale>
+                  <uri>meshes/neo11_propeller_cw.dae</uri>
+               </mesh>
+            </geometry>
+            <material>
+               <diffuse>1 0 0 1</diffuse>
+               <script>
+                  <name>Gazebo/Red</name>
+                  <uri>file://media/materials/scripts/gazebo.material</uri>
+               </script>
+            </material>
+            <cast_shadows>0</cast_shadows>
+         </visual>
+         <gravity>1</gravity>
+         <velocity_decay />
+      </link>
+      <joint name="rotor_5_joint" type="revolute">
+         <child>rotor_5</child>
+         <parent>base_link</parent>
+         <axis>
+            <xyz>0.043578 0.075479 0.996195</xyz>
+            <limit>
+               <lower>-1e+16</lower>
+               <upper>1e+16</upper>
+            </limit>
+            <dynamics>
+               <spring_reference>0</spring_reference>
+               <spring_stiffness>0</spring_stiffness>
+            </dynamics>
+            <use_parent_model_frame>1</use_parent_model_frame>
+         </axis>
+      </joint>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X4</robotNamespace>
+         <jointName>rotor_0_joint</jointName>
+         <linkName>rotor_0</linkName>
+         <turningDirection>cw</turningDirection>
+         <timeConstantUp>0.0182</timeConstantUp>
+         <timeConstantDown>0.0182</timeConstantDown>
+         <maxRotVelocity>1000.0</maxRotVelocity>
+         <motorConstant>1.269e-05</motorConstant>
+         <momentConstant>0.016754</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>2</motorNumber>
+         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+         <rotorDragCoefficient>0</rotorDragCoefficient>
+         <rollingMomentCoefficient>0</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X4</robotNamespace>
+         <jointName>rotor_1_joint</jointName>
+         <linkName>rotor_1</linkName>
+         <turningDirection>ccw</turningDirection>
+         <timeConstantUp>0.0182</timeConstantUp>
+         <timeConstantDown>0.0182</timeConstantDown>
+         <maxRotVelocity>1000.0</maxRotVelocity>
+         <motorConstant>1.269e-05</motorConstant>
+         <momentConstant>0.016754</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>1</motorNumber>
+         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+         <rotorDragCoefficient>0</rotorDragCoefficient>
+         <rollingMomentCoefficient>0</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X4</robotNamespace>
+         <jointName>rotor_2_joint</jointName>
+         <linkName>rotor_2</linkName>
+         <turningDirection>cw</turningDirection>
+         <timeConstantUp>0.0182</timeConstantUp>
+         <timeConstantDown>0.0182</timeConstantDown>
+         <maxRotVelocity>1000.0</maxRotVelocity>
+         <motorConstant>1.269e-05</motorConstant>
+         <momentConstant>0.016754</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>5</motorNumber>
+         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+         <rotorDragCoefficient>0</rotorDragCoefficient>
+         <rollingMomentCoefficient>0</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/5</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X4</robotNamespace>
+         <jointName>rotor_3_joint</jointName>
+         <linkName>rotor_3</linkName>
+         <turningDirection>ccw</turningDirection>
+         <timeConstantUp>0.0182</timeConstantUp>
+         <timeConstantDown>0.0182</timeConstantDown>
+         <maxRotVelocity>1000.0</maxRotVelocity>
+         <motorConstant>1.269e-05</motorConstant>
+         <momentConstant>0.016754</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>3</motorNumber>
+         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+         <rotorDragCoefficient>0</rotorDragCoefficient>
+         <rollingMomentCoefficient>0</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X4</robotNamespace>
+         <jointName>rotor_4_joint</jointName>
+         <linkName>rotor_4</linkName>
+         <turningDirection>cw</turningDirection>
+         <timeConstantUp>0.0182</timeConstantUp>
+         <timeConstantDown>0.0182</timeConstantDown>
+         <maxRotVelocity>1000.0</maxRotVelocity>
+         <motorConstant>1.269e-05</motorConstant>
+         <momentConstant>0.016754</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>0</motorNumber>
+         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+         <rotorDragCoefficient>0</rotorDragCoefficient>
+         <rollingMomentCoefficient>0</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+      <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
+         <robotNamespace>X4</robotNamespace>
+         <jointName>rotor_5_joint</jointName>
+         <linkName>rotor_5</linkName>
+         <turningDirection>ccw</turningDirection>
+         <timeConstantUp>0.0182</timeConstantUp>
+         <timeConstantDown>0.0182</timeConstantDown>
+         <maxRotVelocity>1000.0</maxRotVelocity>
+         <motorConstant>1.269e-05</motorConstant>
+         <momentConstant>0.016754</momentConstant>
+         <commandSubTopic>command/motor_speed</commandSubTopic>
+         <motorNumber>4</motorNumber>
+         <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
+         <rotorDragCoefficient>0</rotorDragCoefficient>
+         <rollingMomentCoefficient>0</rollingMomentCoefficient>
+         <motorSpeedPubTopic>motor_speed/4</motorSpeedPubTopic>
+         <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
+         <motorType>velocity</motorType>
+      </plugin>
+
+      <plugin filename="ignition-gazebo-odometry-publisher-system" name="ignition::gazebo::systems::OdometryPublisher">
+         <dimensions>3</dimensions>
+         <odom_frame>X4/odom</odom_frame>
+         <robot_base_frame>X4/base_footprint</robot_base_frame>
+      </plugin>
+   </model>
+</sdf>
@@ -0,0 +1,114 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version="1.6">
+   <world name="quadcopter">
+      <physics name="4ms" type="ode">
+         <max_step_size>0.004</max_step_size>
+         <real_time_factor>1.0</real_time_factor>
+      </physics>
+      <plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics" />
+      <plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster" />
+      <plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands" />
+      <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
+         <render_engine>ogre2</render_engine>
+      </plugin>
+      <plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
+      <gui fullscreen="0">
+         <!-- 3D scene -->
+         <plugin filename="GzScene3D" name="3D View">
+            <ignition-gui>
+               <title>3D View</title>
+               <property type="bool" key="showTitleBar">false</property>
+               <property type="string" key="state">docked</property>
+            </ignition-gui>
+            <engine>ogre2</engine>
+            <scene>scene</scene>
+            <ambient_light>0.4 0.4 0.4</ambient_light>
+            <background_color>0.8 0.8 0.8</background_color>
+            <camera_pose>-6 0 6 0 0.5 0</camera_pose>
+         </plugin>
+         <!-- World control -->
+         <plugin filename="WorldControl" name="World control">
+            <ignition-gui>
+               <title>World control</title>
+               <property type="bool" key="showTitleBar">false</property>
+               <property type="bool" key="resizable">false</property>
+               <property type="double" key="height">72</property>
+               <property type="double" key="width">121</property>
+               <property type="double" key="z">1</property>
+               <property type="string" key="state">floating</property>
+               <anchors target="3D View">
+                  <line own="left" target="left" />
+                  <line own="bottom" target="bottom" />
+               </anchors>
+            </ignition-gui>
+            <play_pause>true</play_pause>
+            <step>true</step>
+            <start_paused>true</start_paused>
+            <service>/world/quadcopter/control</service>
+            <stats_topic>/world/quadcopter/stats</stats_topic>
+         </plugin>
+         <!-- World statistics -->
+         <plugin filename="WorldStats" name="World stats">
+            <ignition-gui>
+               <title>World stats</title>
+               <property type="bool" key="showTitleBar">false</property>
+               <property type="bool" key="resizable">false</property>
+               <property type="double" key="height">110</property>
+               <property type="double" key="width">290</property>
+               <property type="double" key="z">1</property>
+               <property type="string" key="state">floating</property>
+               <anchors target="3D View">
+                  <line own="right" target="right" />
+                  <line own="bottom" target="bottom" />
+               </anchors>
+            </ignition-gui>
+            <sim_time>true</sim_time>
+            <real_time>true</real_time>
+            <real_time_factor>true</real_time_factor>
+            <iterations>true</iterations>
+            <topic>/world/quadcopter/stats</topic>
+         </plugin>
+      </gui>
+      <light type="directional" name="sun">
+         <cast_shadows>true</cast_shadows>
+         <pose>0 0 10 0 0 0</pose>
+         <diffuse>0.8 0.8 0.8 1</diffuse>
+         <specular>0.2 0.2 0.2 1</specular>
+         <attenuation>
+            <range>1000</range>
+            <constant>0.9</constant>
+            <linear>0.01</linear>
+            <quadratic>0.001</quadratic>
+         </attenuation>
+         <direction>-0.5 0.1 -0.9</direction>
+      </light>
+      <model name="ground_plane">
+         <static>true</static>
+         <link name="link">
+            <collision name="collision">
+               <geometry>
+                  <plane>
+                     <normal>0 0 1</normal>
+                  </plane>
+               </geometry>
+            </collision>
+            <visual name="visual">
+               <geometry>
+                  <plane>
+                     <normal>0 0 1</normal>
+                     <size>100 100</size>
+                  </plane>
+               </geometry>
+               <material>
+                  <ambient>0.8 0.8 0.8 1</ambient>
+                  <diffuse>0.8 0.8 0.8 1</diffuse>
+                  <specular>0.8 0.8 0.8 1</specular>
+               </material>
+            </visual>
+         </link>
+      </model>
+      <include>
+         <uri>model://X3</uri>
+      </include>
+   </world>
+</sdf>
@@ -0,0 +1,114 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version="1.6">
+   <world name="quadcopter">
+      <physics name="4ms" type="ode">
+         <max_step_size>0.004</max_step_size>
+         <real_time_factor>1.0</real_time_factor>
+      </physics>
+      <plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics" />
+      <plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster" />
+      <plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands" />
+      <plugin filename="libignition-gazebo-sensors-system.so" name="ignition::gazebo::systems::Sensors">
+         <render_engine>ogre2</render_engine>
+      </plugin>
+      <plugin filename="libignition-gazebo-imu-system.so" name="ignition::gazebo::systems::Imu" />
+      <gui fullscreen="0">
+         <!-- 3D scene -->
+         <plugin filename="GzScene3D" name="3D View">
+            <ignition-gui>
+               <title>3D View</title>
+               <property type="bool" key="showTitleBar">false</property>
+               <property type="string" key="state">docked</property>
+            </ignition-gui>
+            <engine>ogre2</engine>
+            <scene>scene</scene>
+            <ambient_light>0.4 0.4 0.4</ambient_light>
+            <background_color>0.8 0.8 0.8</background_color>
+            <camera_pose>-6 0 6 0 0.5 0</camera_pose>
+         </plugin>
+         <!-- World control -->
+         <plugin filename="WorldControl" name="World control">
+            <ignition-gui>
+               <title>World control</title>
+               <property type="bool" key="showTitleBar">false</property>
+               <property type="bool" key="resizable">false</property>
+               <property type="double" key="height">72</property>
+               <property type="double" key="width">121</property>
+               <property type="double" key="z">1</property>
+               <property type="string" key="state">floating</property>
+               <anchors target="3D View">
+                  <line own="left" target="left" />
+                  <line own="bottom" target="bottom" />
+               </anchors>
+            </ignition-gui>
+            <play_pause>true</play_pause>
+            <step>true</step>
+            <start_paused>true</start_paused>
+            <service>/world/quadcopter/control</service>
+            <stats_topic>/world/quadcopter/stats</stats_topic>
+         </plugin>
+         <!-- World statistics -->
+         <plugin filename="WorldStats" name="World stats">
+            <ignition-gui>
+               <title>World stats</title>
+               <property type="bool" key="showTitleBar">false</property>
+               <property type="bool" key="resizable">false</property>
+               <property type="double" key="height">110</property>
+               <property type="double" key="width">290</property>
+               <property type="double" key="z">1</property>
+               <property type="string" key="state">floating</property>
+               <anchors target="3D View">
+                  <line own="right" target="right" />
+                  <line own="bottom" target="bottom" />
+               </anchors>
+            </ignition-gui>
+            <sim_time>true</sim_time>
+            <real_time>true</real_time>
+            <real_time_factor>true</real_time_factor>
+            <iterations>true</iterations>
+            <topic>/world/quadcopter/stats</topic>
+         </plugin>
+      </gui>
+      <light type="directional" name="sun">
+         <cast_shadows>true</cast_shadows>
+         <pose>0 0 10 0 0 0</pose>
+         <diffuse>0.8 0.8 0.8 1</diffuse>
+         <specular>0.2 0.2 0.2 1</specular>
+         <attenuation>
+            <range>1000</range>
+            <constant>0.9</constant>
+            <linear>0.01</linear>
+            <quadratic>0.001</quadratic>
+         </attenuation>
+         <direction>-0.5 0.1 -0.9</direction>
+      </light>
+      <model name="ground_plane">
+         <static>true</static>
+         <link name="link">
+            <collision name="collision">
+               <geometry>
+                  <plane>
+                     <normal>0 0 1</normal>
+                  </plane>
+               </geometry>
+            </collision>
+            <visual name="visual">
+               <geometry>
+                  <plane>
+                     <normal>0 0 1</normal>
+                     <size>100 100</size>
+                  </plane>
+               </geometry>
+               <material>
+                  <ambient>0.8 0.8 0.8 1</ambient>
+                  <diffuse>0.8 0.8 0.8 1</diffuse>
+                  <specular>0.8 0.8 0.8 1</specular>
+               </material>
+            </visual>
+         </link>
+      </model>
+      <include>
+         <uri>model://X4</uri>
+      </include>
+   </world>
+</sdf>
@@ -194,8 +194,12 @@ elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
 	else
 		ignition_headless=""
 	fi
-	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
-	ign gazebo --force-version 5 ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation-ignition/worlds/${model}.world"&
+
+	export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:${src_path}/Tools/simulation/gazebo/models
+	#ign gazebo --force-version 5 ${verbose} ${ignition_headless} -r "${src_path}/Tools/simulation/gazebo/worlds/${model}.world"&
+
+	ign gazebo --distributed --network-role=primary --network-secondaries=1 -r "${src_path}/Tools/simulation/gazebo/worlds/${model}.sdf" &
+
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"
@@ -231,9 +235,9 @@ pushd "$rootfs" >/dev/null
 set +e

 if [[ ${model} == test_* ]] || [[ ${model} == *_generated ]]; then
-	sitl_command="\"$sitl_bin\" $no_pxh \"$src_path\"/ROMFS/px4fmu_test -s \"${src_path}\"/posix-configs/SITL/init/test/${model} -t \"$src_path\"/test_data"
+	sitl_command="\"$sitl_bin\" $no_pxh \"$src_path\"/ROMFS/px4fmu_test -s \"${src_path}\"/posix-configs/SITL/init/test/${model}"
 else
-	sitl_command="\"$sitl_bin\" $no_pxh \"$build_path\"/etc -s etc/init.d-posix/rcS -t \"$src_path\"/test_data"
+	sitl_command="\"$sitl_bin\" $no_pxh \"$build_path\"/etc -s etc/init.d-posix/rcS"
 fi

 echo SITL COMMAND: $sitl_command
@@ -694,7 +694,7 @@ class OutputJSON(object):
            node['type'] = 'topic'
            node['color'] = topic_colors[topic]
            # url is opened when double-clicking on the node
-            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic_filename(topic)+'.msg'
+            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/main/msg/'+topic_filename(topic)+'.msg'
            nodes.append(node)

        data['nodes'] = nodes
@@ -41,6 +41,7 @@ add_library(drivers_board

 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio
@@ -56,6 +56,7 @@ else()

 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led
@@ -56,6 +56,7 @@ else()

 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led
@@ -55,6 +55,7 @@ else()

 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			drivers__led
 			nuttx_arch
@@ -42,6 +42,7 @@ add_library(drivers_board

 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio
@@ -59,6 +59,7 @@ else()

 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led # drv_led_start
@@ -42,6 +42,7 @@ add_library(drivers_board

 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio
@@ -56,6 +56,7 @@ else()

 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led # drv_led_start
@@ -47,6 +47,7 @@ add_dependencies(drivers_board arch_board_hw_info)
 target_link_libraries(drivers_board
 	PRIVATE
 		arch_board_hw_info
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio
@@ -57,6 +57,7 @@ else()

 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led
@@ -57,6 +57,7 @@ else()

 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led
@@ -57,6 +57,7 @@ else()

 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led
@@ -46,6 +46,7 @@ add_dependencies(drivers_board arch_board_hw_info)

 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		arch_spi
 		arch_board_hw_info
 		drivers__led # drv_led_start
@@ -60,6 +60,7 @@ else()

 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led # drv_led_start
@@ -43,6 +43,7 @@ add_library(drivers_board

 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio
@@ -43,6 +43,7 @@ add_library(drivers_board

 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio
@@ -55,6 +55,7 @@ else()

 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			drivers__led
 			nuttx_arch
@@ -55,6 +55,7 @@ else()

 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			drivers__led
 			nuttx_arch
@@ -55,6 +55,7 @@ else()

 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			drivers__led
 			nuttx_arch
@@ -46,6 +46,7 @@ add_library(drivers_board

 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
 		drivers__led # drv_led_start
@@ -45,6 +45,7 @@ add_library(drivers_board

 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
 		drivers__led # drv_led_start
@@ -52,6 +52,7 @@ add_dependencies(drivers_board nuttx_context)
 target_link_libraries(drivers_board
 	PRIVATE
 		arch_board_hw_info
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio
@@ -24,6 +24,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -9,12 +9,3 @@ param set-default BAT2_V_DIV 18.1

 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152
-
-# Mavlink ethernet (CFG 1000)
-param set-default MAV_2_CONFIG 1000
-param set-default MAV_2_BROADCAST 1
-param set-default MAV_2_MODE 0
-param set-default MAV_2_RADIO_CTL 0
-param set-default MAV_2_RATE 100000
-param set-default MAV_2_REMOTE_PRT 14550
-param set-default MAV_2_UDP_PRT 14550
@@ -60,6 +60,7 @@ else()

 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led # drv_led_start
@@ -60,6 +60,7 @@ else()

 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_io_pins
 			arch_spi
 			arch_board_hw_info
 			drivers__led # drv_led_start
@@ -0,0 +1,2 @@
+CONFIG_BOARD_NOLOCKSTEP=y
+CONFIG_MODULES_IGNITION_SIMULATOR=y
@@ -46,6 +46,7 @@ add_library(drivers_board

 target_link_libraries(drivers_board
 	PRIVATE
+		arch_io_pins
 		arch_spi
 		drivers__led # drv_led_start
 		nuttx_arch # sdio
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jaeyoung-Lim	8c7e64fb74	Run ignition gazebo as distributed lockstep	2022-08-15 11:15:03 +02:00
Daniel Agar	4c3da85b97	ign sim fix alt ground truth and baro	2022-08-14 15:22:24 -04:00
Daniel Agar	04ac07f07a	WIP: add X3	2022-08-14 15:15:24 -04:00
Daniel Agar	61226a39bd	fixed gyro scale and groundtruth dt	2022-08-14 13:04:08 -04:00
Jaeyoung-Lim	c0dec6cb6c	Fix motor layout for hexacopter_x	2022-08-14 17:14:25 +02:00
Daniel Agar	70697cd41c	WIP	2022-08-10 20:43:14 -04:00
Daniel Agar	91064202f6	WIP	2022-08-10 15:26:20 -04:00
Daniel Agar	93d00528ac	WIP: ignition gazebo direclty use transport	2022-08-10 15:26:20 -04:00
bresch	7996a1a70f	ekf2: reset ekf preflight checks on takeoff correctly Using the control status flags isn't robust as this part of the code runs at the EKF update rate while the in_air transition is don at the prediction rate. It was then likely to miss the transition	2022-08-10 16:52:28 +02:00
marcirsch	a8b342722e	mavlink_main: Add TIME_ESTIMATE_TO_TARGET stream to config, onboard, and onboard_low_bandwidth modes Signed-off-by: marcirsch <marcell@auterion.com>	2022-08-10 09:13:58 +02:00
marcirsch	4bf6ebf4c3	TIME_ESTIMATE_TO_TARGET: Populate TIME_ESTIMATE_TO_TARGET MAVLink message with the estimated time to RTL mavlink_messages: Added newly created MAVLink stream mavlink_main: Enabled stream Signed-off-by: marcirsch <marcell@auterion.com>	2022-08-10 09:13:58 +02:00
Daniel Agar	7f2fea1cca	mpu9250: try all I2C addresses if not manually specified	2022-08-09 13:06:40 -04:00
Jaeyoung Lim	d4b77a6172	Update sitl gazebo submodule	2022-08-09 16:35:27 +02:00
Jaeyoung Lim	ea5b1be2d4	Disable rear motors tilt for tiltrotor SITL airframe This commit disables the rear motor tilt on the tiltrotor SITL airframe	2022-08-09 16:35:27 +02:00
Jukka Laitinen	c7aaf52fd4	Double the allocated stack size of 64-bit NuttX built-in modules Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2022-08-09 08:08:54 +02:00
Daniel Agar	7c809f034d	replay: ReplayEkf2 disable parameter auto save - not needed and silences a startup error	2022-08-08 21:27:47 -04:00
Daniel Agar	34dee09b74	ekf2: replay fixes, don't use HRT for timeout checks - this interferes with current ekf2 replay where the latest IMU sample is effectively the current timestamp	2022-08-08 21:27:47 -04:00
Daniel Agar	1c49a4349f	ekf2: force skip multi-EKF config if replay is enabled	2022-08-08 21:27:47 -04:00
Daniel Agar	66b55d9d0a	ekf2: fix yaw estimator velocity accuracy - additionally require GPS speed accuracy is within EKF2_REQ_SACC	2022-08-08 21:27:01 -04:00
bresch	d9d127a237	lightware dist sensor: set min range based on datasheet	2022-08-08 19:32:44 -04:00
Daniel Agar	0bce1ef573	drivers/imu: new TDK IIM-42652 IMU support	2022-08-08 13:51:39 -04:00
Thomas Stastny	0ea347a5c9	fw pos ctrl: fix the touchdown offset on flare, and nudge the wheel directly	2022-08-08 09:32:44 +02:00
Thomas Stastny	02d7a46025	fw pos ctrl: increase landing nudge rate	2022-08-08 09:32:44 +02:00
Beat Küng	3e68870547	gtest: update to version 1.12.1 Fixes the error googletest-src/googletest/src/gtest-death-test.cc:1283:24: error: ‘dummy’ may be used uninitialized [-Werror=maybe-uninitialized] with GCC 11	2022-08-08 07:43:42 +02:00
Daniel Agar	bce4237963	move ekf2 Matrix helper utilities to mathlib	2022-08-05 09:58:07 -04:00
Silvan Fuhrer	6ebc88fed7	ROMFS: vtol_defaults: reduce aggressiveness around roll and yaw axis For most VTOLs the param defaults for the agressiveness of the MC attitude controller are too high, as VTOLs usually have high intertia and lot af drag due to wings and can thus not rotate as fast as MCs. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	a064164c14	FW pos C params: add param group FW Auto Landing Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	b039ae1614	FW pos c params: change grouping of some clearly longitudinal params to TECS Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	45073f000a	FW Position control: reduce defaults for max pitch Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	d04f21aa16	FW attitude controller: reduce FW_MAN_P_MAX from 45 to 30 45° is a very large pitch angle, and for me 30° is much more reasonable for a default value. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	828992adf7	increase default of MPC_Z_VEL_MAX_DN and MPC_Z_V_AUTO_DN from 1 to 1.5 I think most vehicle can safely decend with at least 1.5m/s, and having this value too low makes Descents/Landings/RTLs unnecessary long. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	c42667ac64	ROMFS: vtol_defaults: remvoe custom NAV_ACC_RAD, leave at param default (10) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	4614c1a0b4	ROMFS: vtol_defaults: increase default hover speeds Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Silvan Fuhrer	0d10491b89	ROMFS: vtol_defaults: remove MPC_TKO_SPEED from VTOL defaults The VTOL default was set to 1, while the param default is 1.5. I don't see why it shuold be a different default for VTOLs and thus remove it. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-05 14:11:59 +02:00
Matthias Grob	87cbda1992	FlightTaskOrbit: parameterize hardcoded maximum radius (#20012 )	2022-08-05 09:19:32 +02:00
Daniel Agar	dfdfbbfa9c	msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966 ) - replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly) - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit - ekf2: add new helper to get roll/pitch/yaw covariances - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD) - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough) Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>	2022-08-04 12:55:21 -04:00
bresch	61f390b0dd	ekf2_test: fix height offset compensation after origin reset	2022-08-04 16:50:31 +02:00
bresch	e34de53e2e	ekf2_test: let the GPS start before setting the new origin fix test by reducing the distance to the new origin: the maximum size of the local position origin is a cube of 1e6m. If the origin is moved further than this, the state is clipped to that maximum value	2022-08-04 16:50:31 +02:00
Silvan Fuhrer	55f395a7e9	FlightTaskAuto: apply cruise speed from position triplet also when negative (#20006 ) Navigator sets the cruise_speed to -1 if the controller shouldn't listen to it and instead use the default speed (for MC: MPC_XY_CRUISE). This is for example for RTL the case, where we want to return at the default speed, independetly of what the mission speed before was. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-08-04 13:36:15 +02:00
FARHANG	2498cbbb74	boards: px4_fmu-v6c rc.board_defaults remove irrelevant ethernet configuration	2022-08-03 11:13:12 -04:00
Tony Cake	f321117568	GHST: Add support for GPS Telemetry (#19953 ) Add support for the basic GPS telemetry values when using the GHST protocol. * Fix formatting in GHST GPS telemetry changes * GHST GPS Telemetry formatting cleanup * GHST GPS Telemetry, Last formatting change	2022-08-03 10:44:21 +02:00
Hamish Willee	270c456121	CI - build on main as well (#20001 )	2022-08-02 16:52:17 -07:00
Roman Bapst	dbf7d32e07	Skip VTOL_TAKEOFF mission item when in fixed wing mode (#19985 ) * mission: skip VTOL_TAKEOFF mission item when in fixed wing mode Signed-off-by: RomanBapst <bapstroman@gmail.com> * mission: added better comment regarding skipping VTOL Takeoff in fw mode Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-08-02 15:34:42 +02:00
RomanBapst	f11f2e9797	addressed review comments Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-08-02 15:29:25 +02:00
RomanBapst	a425bc4c92	vehicle_local_position: fixed comment Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-08-02 15:29:25 +02:00
RomanBapst	fbd4534edc	WindEstimator: reworked filter initialisation - separate initialisation with and without airspeed Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-08-02 15:29:25 +02:00
RomanBapst	a63f1b71fe	wind_estimator: added simple check for validity of synthetic airspeed - synthetic airspeed will only be declared valid as soon as the wind variance has dropped below a parameterized threshold. This is useful for vehicles without an airspeed sensor which rely on synthetic airspeed but only once the vehicle has turned sufficiently for the wind estimates to be reliable. Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-08-02 15:29:25 +02:00
Hamish Willee	a715b5468e	mc_wind_estimator - improve readability (#19545 )	2022-08-02 09:26:06 +02:00
Hamish Willee	30e2490d5b	Docs are now in user guide and main (#19977 ) * Fix links to docs in source to point to docs on main not master * More docs and scripts that need to point to main	2022-08-01 11:39:39 +10:00
Peter van der Perk	c566fb414b	S32K1XX add dummy iwdg driver	2022-07-31 11:21:41 -04:00
Beat Küng	e7588d2da0	px4io+pwm_out: set the PWM rate and disarmed value when a channel is first set to a servo This should simplify the first setup a bit.	2022-07-31 11:20:57 -04:00
Igor Mišić	f929017618	boards: link missing arch_io_pins lib	2022-07-31 11:19:20 -04:00
Daniel Agar	41d9c3dd2a	ekf2: add AUX velocity aid src status - also includes velocity and position helpers for using estimator aid source status messages that will later be used for GPS, EV, etc	2022-07-29 12:02:31 -04:00
Daniel Agar	a397c09e59	ekf2: use estimator_aid_src for all yaw sources (mag, gnss, ev)	2022-07-29 11:20:48 -04:00
Agata Barcis	d5d88cba5b	generate_microRTPS_bridge.py updated to support ROS2 humble Signed-off-by: Agata Barcis <agata.barcis@tii.ae>	2022-07-29 15:21:05 +02:00
Silvan Fuhrer	638eff426a	AirspeedValidator: increase max update step size of tas_scale_validated from 1% to 5% Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-07-29 09:29:27 +02:00