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ROMFS/px4fmu_common/init.d-posix/airframes/1090_gazebo-classic_monocopter

@@ -0,0 +1,70 @@
+#!/bin/sh
+#
+# @name Monocopter SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_LND_ANG 8
+
+param set-default NPFG_PERIOD 12
+
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
+param set-default FW_SPOILERS_LND 0.4
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+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
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS3_TRQ_Y 1
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS4_TYPE 9
+param set-default CA_SV_CS5_TYPE 10
+param set-default PWM_MAIN_FUNC3 204
+param set-default PWM_MAIN_FUNC4 205
+param set-default PWM_MAIN_FUNC5 101
+param set-default PWM_MAIN_FUNC6 201
+param set-default PWM_MAIN_FUNC7 202
+param set-default PWM_MAIN_FUNC8 203
+param set-default PWM_MAIN_FUNC9 206
+param set-default PWM_MAIN_REV 256

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -67,6 +67,7 @@ px4_add_romfs_files(
 	1061_gazebo-classic_r1_rover
 	1062_flightgear_tf-r1
 	1070_gazebo-classic_boat
+	1090_gazebo-classic_monocopter
 
 	2507_gazebo-classic_cloudship
 

src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp

@@ -247,8 +247,8 @@ void SimulatorMavlink::update_sensors(const hrt_abstime &time, const mavlink_hil
 
 		if (sensors.id == 0) {
 			// gyro 0 is simulated FIFO
-			static constexpr float GYRO_FIFO_SCALE = math::radians(2000.f / 32768.f);
-			static constexpr float GYRO_FIFO_RANGE = math::radians(2000.f);
+			static constexpr float GYRO_FIFO_SCALE = math::radians(8000.f / 32768.f);
+			static constexpr float GYRO_FIFO_RANGE = math::radians(8000.f);
 
 			_px4_gyro[sensors.id].set_scale(GYRO_FIFO_SCALE);
 			_px4_gyro[sensors.id].set_range(GYRO_FIFO_RANGE);

src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake

@@ -87,6 +87,7 @@ if(gazebo_FOUND)
 		iris_opt_flow_mockup
 		iris_rplidar
 		iris_vision
+		monocopter
 		omnicopter
 		plane
 		plane_cam