mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-25 07:47:34 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Jaeyoung Lim
|
18e79c9649 |
@@ -9,10 +9,10 @@ pipeline {
|
||||
script {
|
||||
def build_nodes = [:]
|
||||
def docker_images = [
|
||||
armhf: "px4io/px4-dev-armhf:2022-08-12",
|
||||
arm64: "px4io/px4-dev-aarch64:2022-08-12",
|
||||
base: "px4io/px4-dev-ros2-foxy:2022-08-12",
|
||||
nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
|
||||
armhf: "px4io/px4-dev-armhf:2021-09-08",
|
||||
arm64: "px4io/px4-dev-aarch64:2021-09-08",
|
||||
base: "px4io/px4-dev-base-bionic:2021-09-08",
|
||||
nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
|
||||
]
|
||||
|
||||
def armhf_builds = [
|
||||
@@ -62,8 +62,6 @@ pipeline {
|
||||
"holybro_durandal-v1_default",
|
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"holybro_kakutef7_default",
|
||||
"holybro_kakuteh7_default",
|
||||
"holybro_kakuteh7v2_default",
|
||||
"holybro_kakuteh7mini_default",
|
||||
"holybro_pix32v5_default",
|
||||
"matek_gnss-m9n-f4_canbootloader",
|
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"matek_gnss-m9n-f4_default",
|
||||
|
||||
@@ -755,11 +755,9 @@ void runTests() {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
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|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
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sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
|
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|
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during test
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
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@@ -59,13 +59,13 @@ jobs:
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run: |
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export
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ulimit -a
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- name: Build PX4 and sitl_gazebo-classic
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- name: Build PX4 and sitl_gazebo
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env:
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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run: |
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ccache -z
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make px4_sitl_default
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make px4_sitl_default sitl_gazebo-classic
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make px4_sitl_default sitl_gazebo
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ccache -s
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|
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- name: Core dump settings
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||||
|
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@@ -54,13 +54,13 @@ jobs:
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run: |
|
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export
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ulimit -a
|
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- name: Build PX4 and sitl_gazebo-classic
|
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- name: Build PX4 and sitl_gazebo
|
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env:
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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run: |
|
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ccache -z
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make px4_sitl_default
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make px4_sitl_default sitl_gazebo-classic
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make px4_sitl_default sitl_gazebo
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ccache -s
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|
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- name: Core dump settings
|
||||
|
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@@ -74,14 +74,14 @@ jobs:
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- name: Build SITL Gazebo
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env:
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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run: make px4_sitl_default sitl_gazebo-classic
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- name: ccache post-run sitl_gazebo-classic
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run: make px4_sitl_default sitl_gazebo
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- name: ccache post-run sitl_gazebo
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run: ccache -s
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- name: Build MAVSDK tests
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env:
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PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
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DONT_RUN: 1
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run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
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run: make px4_sitl_default sitl_gazebo mavsdk_tests
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- name: ccache post-run mavsdk_tests
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run: ccache -s
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|
||||
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@@ -47,6 +47,8 @@ GTAGS
|
||||
*.files
|
||||
*.includes
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||||
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Tools/jlink-nuttx.so
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# CLion ignores
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.idea
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||||
cmake-build-*/
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||||
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||||
+3
-3
@@ -10,9 +10,9 @@
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path = Tools/simulation/jmavsim/jMAVSim
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url = https://github.com/PX4/jMAVSim.git
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branch = main
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[submodule "Tools/simulation/gazebo-classic/sitl_gazebo-classic"]
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path = Tools/simulation/gazebo-classic/sitl_gazebo-classic
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url = https://github.com/PX4/PX4-SITL_gazebo-classic.git
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[submodule "Tools/simulation/gazebo/sitl_gazebo"]
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path = Tools/simulation/gazebo/sitl_gazebo
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url = https://github.com/PX4/PX4-SITL_gazebo.git
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branch = main
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[submodule "src/drivers/gps/devices"]
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path = src/drivers/gps/devices
|
||||
|
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@@ -4,7 +4,6 @@ compile_commands.json
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||||
|
||||
# generated by cmake
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||||
launch.json
|
||||
c_cpp_properties.json
|
||||
|
||||
# C/C++ extension does some local caching in this folder
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ipch/
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@@ -3,18 +3,14 @@
|
||||
{
|
||||
"name": "PX4",
|
||||
"includePath": [
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"${workspaceFolder}/**",
|
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"${workspaceFolder}/**"
|
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],
|
||||
"defines": [],
|
||||
"macFrameworkPath": [],
|
||||
"configurationProvider": "ms-vscode.cmake-tools",
|
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"cppStandard": "c++14",
|
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"cStandard": "c11",
|
||||
"forcedInclude": [
|
||||
"@PX4_BINARY_DIR@/px4_boardconfig.h",
|
||||
"@PX4_SOURCE_DIR@/platforms/common/include/px4_platform_common/defines.h"
|
||||
]
|
||||
"cStandard": "c11"
|
||||
}
|
||||
],
|
||||
"version": 4
|
||||
}
|
||||
}
|
||||
Vendored
+1
-11
@@ -180,7 +180,7 @@ CONFIG:
|
||||
short: cubepilot_cubeorange
|
||||
buildType: MinSizeRel
|
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settings:
|
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CONFIG: cubepilot_cubeorange_test
|
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CONFIG: cubepilot_orange_test
|
||||
emlid_navio2_default:
|
||||
short: emlid_navio2
|
||||
buildType: MinSizeRel
|
||||
@@ -266,16 +266,6 @@ CONFIG:
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_fmuk66-v3_default
|
||||
nxp_mr-canhubk3_default:
|
||||
short: nxp_mr-canhubk3_default
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-canhubk3_default
|
||||
nxp_mr-canhubk3_fmu:
|
||||
short: nxp_mr-canhubk3_fmu
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: nxp_mr-canhubk3_fmu
|
||||
raspberrypi_pico_default:
|
||||
short: raspberrypi_pico
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+9
-1
@@ -2,6 +2,7 @@
|
||||
"astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
|
||||
"astyle.c.enable": true,
|
||||
"astyle.cpp.enable": true,
|
||||
"breadcrumbs.enabled": true,
|
||||
"C_Cpp.autoAddFileAssociations": false,
|
||||
"C_Cpp.clang_format_fallbackStyle": "none",
|
||||
"C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
|
||||
@@ -19,6 +20,7 @@
|
||||
"cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
|
||||
"cmakeExplorer.parallelJobs": 1,
|
||||
"cmakeExplorer.suiteDelimiter": "-",
|
||||
"cortex-debug.enableTelemetry": false,
|
||||
"cSpell.allowCompoundWords": true,
|
||||
"cSpell.diagnosticLevel": "Hint",
|
||||
"cSpell.showStatus": false,
|
||||
@@ -29,6 +31,7 @@
|
||||
],
|
||||
"debug.toolBarLocation": "docked",
|
||||
"editor.defaultFormatter": "chiehyu.vscode-astyle",
|
||||
"editor.dragAndDrop": false,
|
||||
"editor.insertSpaces": false,
|
||||
"editor.minimap.maxColumn": 120,
|
||||
"editor.minimap.renderCharacters": false,
|
||||
@@ -124,7 +127,12 @@
|
||||
"${workspaceFolder}/build": true
|
||||
},
|
||||
"search.showLineNumbers": true,
|
||||
"terminal.integrated.scrollback": 15000,
|
||||
"telemetry.enableTelemetry": false,
|
||||
"terminal.integrated.scrollback": 5000,
|
||||
"window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
|
||||
"workbench.editor.highlightModifiedTabs": true,
|
||||
"workbench.enableExperiments": false,
|
||||
"workbench.settings.enableNaturalLanguageSearch": false,
|
||||
"yaml.schemas": {
|
||||
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
|
||||
}
|
||||
|
||||
Vendored
+13
-13
@@ -67,9 +67,9 @@
|
||||
"dependsOn":["px4_sitl_cleanup"]
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic build",
|
||||
"label": "gazebo build",
|
||||
"type": "shell",
|
||||
"command": "make px4_sitl_default sitl_gazebo-classic",
|
||||
"command": "make px4_sitl_default sitl_gazebo",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}"
|
||||
},
|
||||
@@ -86,18 +86,18 @@
|
||||
"problemMatcher": [],
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic start",
|
||||
"label": "gazebo start",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo-classic build",
|
||||
"dependsOn": "gazebo build",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world",
|
||||
"command": "gzserver --verbose ${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world",
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
@@ -128,18 +128,18 @@
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic",
|
||||
"label": "gazebo",
|
||||
"type": "shell",
|
||||
"dependsOn": "gazebo-classic start",
|
||||
"dependsOn": "gazebo start",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}",
|
||||
"env": {
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo-classic",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models",
|
||||
"GAZEBO_PLUGIN_PATH": "${workspaceFolder}/build/px4_sitl_default/build_gazebo",
|
||||
"GAZEBO_MODEL_PATH": "${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models",
|
||||
"PX4_SIM_SPEED_FACTOR": "1"
|
||||
}
|
||||
},
|
||||
"command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
|
||||
"command": "gz model --verbose --spawn-file=${workspaceFolder}/Tools/simulation/gazebo/sitl_gazebo/models/iris/iris.sdf --model-name=iris -x 1.01 -y 0.98 -z 0.83",
|
||||
"isBackground": false,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
@@ -194,7 +194,7 @@
|
||||
"dependsOn":["ign gazebo kill"]
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic kill",
|
||||
"label": "gazebo kill",
|
||||
"type": "shell",
|
||||
"command": "pkill -9 -f gzserver || true",
|
||||
"presentation": {
|
||||
|
||||
+1
-18
@@ -118,21 +118,7 @@ execute_process(
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE
|
||||
WORKING_DIRECTORY ${PX4_SOURCE_DIR}
|
||||
)
|
||||
|
||||
# git describe to X.Y.Z version
|
||||
string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
|
||||
|
||||
# major version
|
||||
list(GET VERSION_LIST 0 PX4_VERSION_MAJOR)
|
||||
string(REPLACE "v" "" PX4_VERSION_MAJOR ${PX4_VERSION_MAJOR})
|
||||
# minor version
|
||||
list(GET VERSION_LIST 1 PX4_VERSION_MINOR)
|
||||
# patch version
|
||||
list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
|
||||
string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
|
||||
list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
|
||||
|
||||
message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
|
||||
message(STATUS "PX4 version: ${PX4_GIT_TAG}")
|
||||
|
||||
define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
|
||||
BRIEF_DOCS "PX4 module libs"
|
||||
@@ -470,9 +456,6 @@ add_custom_command(OUTPUT ${uorb_graph_config}
|
||||
add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
|
||||
|
||||
|
||||
include(bloaty)
|
||||
|
||||
|
||||
include(doxygen)
|
||||
include(metadata)
|
||||
include(package)
|
||||
|
||||
@@ -73,13 +73,6 @@ menu "Toolchain"
|
||||
help
|
||||
relative path to the ROMFS root directory
|
||||
|
||||
config BOARD_ROOTFSDIR
|
||||
string "Root directory"
|
||||
depends on PLATFORM_POSIX
|
||||
default "."
|
||||
help
|
||||
Configure the root directory in the file system for PX4 files
|
||||
|
||||
config BOARD_IO
|
||||
string "IO board name"
|
||||
default "px4_io-v2_default"
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
BSD 3-Clause License
|
||||
|
||||
Copyright (c) 2012 - 2023, PX4 Development Team
|
||||
Copyright (c) 2012 - 2022, PX4 Development Team
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without
|
||||
|
||||
@@ -324,6 +324,10 @@ px4io_update:
|
||||
cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
|
||||
git status
|
||||
|
||||
jlink-nuttx:
|
||||
$(CC) -shared -fPIC platforms/nuttx/NuttX/nuttx/tools/jlink-nuttx.c -o Tools/jlink-nuttx.so
|
||||
|
||||
|
||||
bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
|
||||
git status
|
||||
|
||||
@@ -388,17 +392,17 @@ tests_coverage:
|
||||
|
||||
|
||||
rostest: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
|
||||
tests_integration: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
|
||||
@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
|
||||
|
||||
tests_integration_coverage:
|
||||
@$(MAKE) clean
|
||||
@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
@$(MAKE) --no-print-directory px4_sitl_default mavsdk_tests
|
||||
@"$(SRC_DIR)"/test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 test/mavsdk_tests/configs/sitl.json
|
||||
@mkdir -p coverage
|
||||
@@ -408,13 +412,13 @@ tests_mission: rostest
|
||||
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_tests_missions.test
|
||||
|
||||
rostest_run: px4_sitl_default
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo
|
||||
@"$(SRC_DIR)"/test/rostest_px4_run.sh $(TEST_FILE) mission:=$(TEST_MISSION) vehicle:=$(TEST_VEHICLE)
|
||||
|
||||
tests_mission_coverage:
|
||||
@$(MAKE) clean
|
||||
@$(MAKE) --no-print-directory px4_sitl_default PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo-classic PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo PX4_CMAKE_BUILD_TYPE=Coverage
|
||||
@"$(SRC_DIR)"/test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=VTOL_mission_1 vehicle:=standard_vtol
|
||||
@$(MAKE) --no-print-directory px4_sitl_default generate_coverage
|
||||
|
||||
@@ -489,7 +493,7 @@ validate_module_configs:
|
||||
|
||||
# Cleanup
|
||||
# --------------------------------------------------------------------
|
||||
.PHONY: clean submodulesclean submodulesupdate distclean
|
||||
.PHONY: clean submodulesclean submodulesupdate gazeboclean distclean
|
||||
|
||||
clean:
|
||||
@[ ! -d "$(SRC_DIR)/build" ] || find "$(SRC_DIR)/build" -mindepth 1 -maxdepth 1 -type d -exec sh -c "echo {}; cmake --build {} -- clean || rm -rf {}" \; # use generated build system to clean, wipe build directory if it fails
|
||||
@@ -507,7 +511,10 @@ submodulesupdate:
|
||||
@git submodule update --init --recursive --jobs 4
|
||||
@git fetch --all --tags --recurse-submodules=yes --jobs=4
|
||||
|
||||
distclean:
|
||||
gazeboclean:
|
||||
@rm -rf ~/.gazebo/*
|
||||
|
||||
distclean: gazeboclean
|
||||
@git submodule deinit --force $(SRC_DIR)
|
||||
@rm -rf "$(SRC_DIR)/build"
|
||||
@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"
|
||||
|
||||
@@ -49,7 +49,7 @@ param set-default CA_AIRFRAME 4
|
||||
|
||||
param set-default CA_ROTOR_COUNT 2
|
||||
param set-default CA_ROTOR0_PX 0
|
||||
param set-default CA_ROTOR0_PY 1
|
||||
param set-default CA_ROTOR0_PY 2
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX 0
|
||||
param set-default CA_ROTOR1_PY -1
|
||||
|
||||
+1
-1
@@ -13,7 +13,7 @@ param set-default CA_AIRFRAME 4
|
||||
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
param set-default CA_ROTOR0_PX 1
|
||||
param set-default CA_ROTOR0_PY 1
|
||||
param set-default CA_ROTOR0_PY 2
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -1
|
||||
param set-default CA_ROTOR1_PY -1
|
||||
@@ -11,8 +11,6 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
|
||||
@@ -32,19 +30,19 @@ param set-default CA_ROTOR3_PX -0.13
|
||||
param set-default CA_ROTOR3_PY 0.20
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default SIM_GZ_EC_FUNC1 101
|
||||
param set-default SIM_GZ_EC_FUNC2 102
|
||||
param set-default SIM_GZ_EC_FUNC3 103
|
||||
param set-default SIM_GZ_EC_FUNC4 104
|
||||
param set-default SIM_GZ_FUNC1 101
|
||||
param set-default SIM_GZ_FUNC2 102
|
||||
param set-default SIM_GZ_FUNC3 103
|
||||
param set-default SIM_GZ_FUNC4 104
|
||||
|
||||
param set-default SIM_GZ_EC_MIN1 150
|
||||
param set-default SIM_GZ_EC_MIN2 150
|
||||
param set-default SIM_GZ_EC_MIN3 150
|
||||
param set-default SIM_GZ_EC_MIN4 150
|
||||
param set-default SIM_GZ_MIN1 150
|
||||
param set-default SIM_GZ_MIN2 150
|
||||
param set-default SIM_GZ_MIN3 150
|
||||
param set-default SIM_GZ_MIN4 150
|
||||
|
||||
param set-default SIM_GZ_EC_MAX1 1000
|
||||
param set-default SIM_GZ_EC_MAX2 1000
|
||||
param set-default SIM_GZ_EC_MAX3 1000
|
||||
param set-default SIM_GZ_EC_MAX4 1000
|
||||
param set-default SIM_GZ_MAX1 1000
|
||||
param set-default SIM_GZ_MAX2 1000
|
||||
param set-default SIM_GZ_MAX3 1000
|
||||
param set-default SIM_GZ_MAX4 1000
|
||||
|
||||
param set-default MPC_THR_HOVER 0.60
|
||||
|
||||
@@ -11,8 +11,6 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
|
||||
@@ -32,19 +30,19 @@ param set-default CA_ROTOR3_PX -0.13
|
||||
param set-default CA_ROTOR3_PY 0.20
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
|
||||
param set-default SIM_GZ_EC_FUNC1 101
|
||||
param set-default SIM_GZ_EC_FUNC2 102
|
||||
param set-default SIM_GZ_EC_FUNC3 103
|
||||
param set-default SIM_GZ_EC_FUNC4 104
|
||||
param set-default SIM_GZ_FUNC1 101
|
||||
param set-default SIM_GZ_FUNC2 102
|
||||
param set-default SIM_GZ_FUNC3 103
|
||||
param set-default SIM_GZ_FUNC4 104
|
||||
|
||||
param set-default SIM_GZ_EC_MIN1 150
|
||||
param set-default SIM_GZ_EC_MIN2 150
|
||||
param set-default SIM_GZ_EC_MIN3 150
|
||||
param set-default SIM_GZ_EC_MIN4 150
|
||||
param set-default SIM_GZ_MIN1 150
|
||||
param set-default SIM_GZ_MIN2 150
|
||||
param set-default SIM_GZ_MIN3 150
|
||||
param set-default SIM_GZ_MIN4 150
|
||||
|
||||
param set-default SIM_GZ_EC_MAX1 1000
|
||||
param set-default SIM_GZ_EC_MAX2 1000
|
||||
param set-default SIM_GZ_EC_MAX3 1000
|
||||
param set-default SIM_GZ_EC_MAX4 1000
|
||||
param set-default SIM_GZ_MAX1 1000
|
||||
param set-default SIM_GZ_MAX2 1000
|
||||
param set-default SIM_GZ_MAX3 1000
|
||||
param set-default SIM_GZ_MAX4 1000
|
||||
|
||||
param set-default MPC_THR_HOVER 0.60
|
||||
|
||||
@@ -1,84 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo rc_cessna
|
||||
# @type Fixedwing
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.fw_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
|
||||
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default FW_L1_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 COM_PREARM_MODE 2
|
||||
param set-default CBRK_AIRSPD_CHK 162128
|
||||
|
||||
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 1.0
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS3_TRQ_Y 1.0
|
||||
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 SIM_GZ_EC_FUNC1 101
|
||||
param set-default SIM_GZ_EC_MIN1 0
|
||||
param set-default SIM_GZ_EC_MAX1 1000
|
||||
|
||||
param set-default SIM_GZ_SV_FUNC1 201
|
||||
param set-default SIM_GZ_SV_FUNC2 202
|
||||
param set-default SIM_GZ_SV_FUNC3 203
|
||||
param set-default SIM_GZ_SV_FUNC4 204
|
||||
param set-default SIM_GZ_SV_FUNC5 205
|
||||
param set-default SIM_GZ_SV_FUNC6 206
|
||||
@@ -33,55 +33,54 @@
|
||||
|
||||
px4_add_romfs_files(
|
||||
|
||||
1010_gazebo-classic_iris_opt_flow
|
||||
1010_gazebo-classic_iris_opt_flow.post
|
||||
1011_gazebo-classic_iris_irlock
|
||||
1012_gazebo-classic_iris_rplidar
|
||||
1013_gazebo-classic_iris_vision
|
||||
1013_gazebo-classic_iris_vision.post
|
||||
1015_gazebo-classic_iris_obs_avoid
|
||||
1015_gazebo-classic_iris_obs_avoid.post
|
||||
1017_gazebo-classic_iris_opt_flow_mockup
|
||||
1019_gazebo-classic_iris_dual_gps
|
||||
1021_gazebo-classic_uuv_hippocampus
|
||||
1022_gazebo-classic_uuv_bluerov2_heavy
|
||||
1030_gazebo-classic_plane
|
||||
1031_gazebo-classic_plane_cam
|
||||
1032_gazebo-classic_plane_catapult
|
||||
1010_gazebo_iris_opt_flow
|
||||
1010_gazebo_iris_opt_flow.post
|
||||
1011_gazebo_iris_irlock
|
||||
1012_gazebo_iris_rplidar
|
||||
1013_gazebo_iris_vision
|
||||
1013_gazebo_iris_vision.post
|
||||
1015_gazebo_iris_obs_avoid
|
||||
1015_gazebo_iris_obs_avoid.post
|
||||
1017_gazebo_iris_opt_flow_mockup
|
||||
1019_gazebo_iris_dual_gps
|
||||
1021_gazebo_uuv_hippocampus
|
||||
1022_gazebo_uuv_bluerov2_heavy
|
||||
1030_gazebo_plane
|
||||
1031_gazebo_plane_cam
|
||||
1032_gazebo_plane_catapult
|
||||
1033_jsbsim_rascal
|
||||
1034_flightgear_rascal-electric
|
||||
1035_gazebo-classic_techpod
|
||||
1035_gazebo_techpod
|
||||
1036_jsbsim_malolo
|
||||
1037_gazebo-classic_believer
|
||||
1038_gazebo-classic_glider
|
||||
1039_gazebo-classic_advanced_plane
|
||||
1040_gazebo-classic_standard_vtol
|
||||
1041_gazebo-classic_tailsitter
|
||||
1042_gazebo-classic_tiltrotor
|
||||
1043_gazebo-classic_standard_vtol_drop
|
||||
1044_gazebo-classic_plane_lidar
|
||||
1060_gazebo-classic_rover
|
||||
1061_gazebo-classic_r1_rover
|
||||
1037_gazebo_believer
|
||||
1038_gazebo_glider
|
||||
1039_gazebo_advanced_plane
|
||||
1040_gazebo_standard_vtol
|
||||
1041_gazebo_tailsitter
|
||||
1042_gazebo_tiltrotor
|
||||
1043_gazebo_standard_vtol_drop
|
||||
1044_gazebo_plane_lidar
|
||||
1060_gazebo_rover
|
||||
1061_gazebo_r1_rover
|
||||
1062_flightgear_tf-r1
|
||||
1070_gazebo-classic_boat
|
||||
1070_gazebo_boat
|
||||
|
||||
2507_gazebo-classic_cloudship
|
||||
2507_gazebo_cloudship
|
||||
|
||||
3010_jsbsim_quadrotor_x
|
||||
3011_jsbsim_hexarotor_x
|
||||
|
||||
4001_gz_x500
|
||||
4002_gz_x500_depth
|
||||
4003_gz_rc_cessna
|
||||
|
||||
6011_gazebo-classic_typhoon_h480
|
||||
6011_gazebo-classic_typhoon_h480.post
|
||||
6011_gazebo_typhoon_h480
|
||||
6011_gazebo_typhoon_h480.post
|
||||
|
||||
10016_gazebo-classic_iris
|
||||
10016_gazebo_iris
|
||||
10017_jmavsim_iris
|
||||
10018_gazebo-classic_iris_foggy_lidar
|
||||
10019_gazebo-classic_omnicopter
|
||||
10030_gazebo-classic_px4vision
|
||||
10018_gazebo_iris_foggy_lidar
|
||||
10019_gazebo_omnicopter
|
||||
10030_gazebo_px4vision
|
||||
|
||||
10040_sihsim_quadx
|
||||
10041_sihsim_airplane
|
||||
|
||||
@@ -19,9 +19,9 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
|
||||
exit 1
|
||||
fi
|
||||
|
||||
elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then
|
||||
elif [ "$PX4_SIMULATOR" = "gz" ]; then
|
||||
|
||||
# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
|
||||
# source generated gz_env.sh for IGN_GAZEBO_RESOURCE_PATH
|
||||
if [ -f ./gz_env.sh ]; then
|
||||
. ./gz_env.sh
|
||||
|
||||
@@ -37,8 +37,16 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
|
||||
gz_command="gz"
|
||||
gz_sub_command="sim"
|
||||
else
|
||||
echo "ERROR [init] Gazebo gz please install gz-garden"
|
||||
exit 1
|
||||
IGN_GAZEBO_VERSIONS=$(ign gazebo --versions 2>&1)
|
||||
if [ $? -eq 0 ] && [ "${IGN_GAZEBO_VERSIONS}" != "" ]
|
||||
then
|
||||
# "ign gazebo" for Fortress and earlier
|
||||
gz_command="ign"
|
||||
gz_sub_command="gazebo"
|
||||
else
|
||||
echo "ERROR [init] Gazebo gz and ign commands unavailable"
|
||||
exit 1
|
||||
fi
|
||||
fi
|
||||
|
||||
# look for running ${gz_command} gazebo world
|
||||
|
||||
@@ -14,14 +14,9 @@ param set-default MAV_TYPE 1
|
||||
# Default parameters for fixed wing UAVs.
|
||||
#
|
||||
param set-default COM_POS_FS_DELAY 5
|
||||
|
||||
# there is a 2.5 factor applied on the _FS thresholds if for invalidation
|
||||
param set-default COM_POS_FS_EPH 50
|
||||
param set-default COM_POS_FS_EPH 15
|
||||
param set-default COM_POS_FS_EPV 30
|
||||
param set-default COM_VEL_FS_EVH 5
|
||||
|
||||
param set-default COM_POS_LOW_EPH 50
|
||||
|
||||
# Disable preflight disarm to not interfere with external launching
|
||||
param set-default COM_DISARM_PRFLT -1
|
||||
|
||||
|
||||
@@ -23,12 +23,6 @@ then
|
||||
set LOGGER_ARGS "${LOGGER_ARGS} -x"
|
||||
fi
|
||||
|
||||
if param compare SDLOG_MODE 4
|
||||
then
|
||||
set LOGGER_ARGS "${LOGGER_ARGS} -a"
|
||||
fi
|
||||
|
||||
|
||||
if ! param compare SDLOG_MODE -1
|
||||
then
|
||||
logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
|
||||
|
||||
@@ -101,24 +101,12 @@ then
|
||||
pmw3901 -S start
|
||||
fi
|
||||
|
||||
# vl53l0x i2c distance sensor
|
||||
if param compare -s SENS_EN_VL53L0X 1
|
||||
then
|
||||
vl53l0x start -X
|
||||
fi
|
||||
|
||||
# vl53l1x i2c distance sensor
|
||||
if param compare -s SENS_EN_VL53L1X 1
|
||||
then
|
||||
vl53l1x start -X
|
||||
fi
|
||||
|
||||
# tf02 pro i2c distance sensor
|
||||
if param compare -s SENS_EN_TF02PRO 1
|
||||
then
|
||||
tf02pro start -X
|
||||
fi
|
||||
|
||||
# ADIS16448 spi external IMU
|
||||
if param compare -s SENS_EN_ADIS164X 1
|
||||
then
|
||||
|
||||
@@ -10,11 +10,6 @@ set VEHICLE_TYPE vtol
|
||||
# MAV_TYPE_VTOL_FIXEDROTOR 22
|
||||
param set-default MAV_TYPE 22
|
||||
|
||||
# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
|
||||
param set-default COM_POS_FS_EPH 50
|
||||
|
||||
param set-default COM_POS_LOW_EPH 50
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 20
|
||||
param set-default MIS_YAW_TMT 10
|
||||
|
||||
|
||||
@@ -54,10 +54,7 @@ do
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink status' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
|
||||
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps status' || true
|
||||
${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
|
||||
|
||||
done
|
||||
|
||||
@@ -10,7 +10,6 @@ fi
|
||||
exec find boards msg src platforms test \
|
||||
-path platforms/nuttx/NuttX -prune -o \
|
||||
-path platforms/qurt/dspal -prune -o \
|
||||
-path src/drivers/ins/vectornav/libvnc -prune -o \
|
||||
-path src/drivers/uavcan/libuavcan -prune -o \
|
||||
-path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
|
||||
-path src/drivers/cyphal/libcanard -prune -o \
|
||||
|
||||
@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
|
||||
# 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', 'ins', 'airspeed_sensor',
|
||||
valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
|
||||
'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
|
||||
|
||||
max_line_length = 80 # wrap lines that are longer than this
|
||||
|
||||
+10
-11
@@ -217,17 +217,6 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
# Set Java 11 as default
|
||||
sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
|
||||
|
||||
# Install Gazebo
|
||||
if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
|
||||
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||
# Update list, since new gazebo-stable.list has been added
|
||||
sudo apt-get update -y --quiet
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
ignition-fortress \
|
||||
;
|
||||
fi
|
||||
|
||||
# Install Gazebo classic
|
||||
if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||
gazebo_version=9
|
||||
@@ -266,6 +255,16 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
echo "export SVGA_VGPU10=0" >> ~/.profile
|
||||
fi
|
||||
|
||||
# Install Gazebo
|
||||
if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
|
||||
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||
# Update list, since new gazebo-stable.list has been added
|
||||
sudo apt-get update -y --quiet
|
||||
sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
|
||||
ignition-fortress \
|
||||
;
|
||||
fi
|
||||
fi
|
||||
|
||||
if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
|
||||
Submodule Tools/simulation/gazebo-classic/sitl_gazebo-classic deleted from 9343aaf4e2
+3
-3
@@ -16,9 +16,9 @@ SRC_DIR=$1
|
||||
BUILD_DIR=$2
|
||||
|
||||
# setup Gazebo env and update package path
|
||||
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo-classic
|
||||
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
|
||||
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo-classic
|
||||
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${BUILD_DIR}/build_gazebo
|
||||
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${SRC_DIR}/Tools/simulation/gazebo/sitl_gazebo/models
|
||||
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${BUILD_DIR}/build_gazebo
|
||||
|
||||
echo -e "GAZEBO_PLUGIN_PATH $GAZEBO_PLUGIN_PATH"
|
||||
echo -e "GAZEBO_MODEL_PATH $GAZEBO_MODEL_PATH"
|
||||
Submodule
+1
Submodule Tools/simulation/gazebo/sitl_gazebo added at 05348f9c22
+7
-7
@@ -1,10 +1,10 @@
|
||||
#!/bin/bash
|
||||
# run multiple instances of the 'px4' binary, with the gazebo SITL simulation
|
||||
# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo-classic'
|
||||
# It assumes px4 is already built, with 'make px4_sitl_default sitl_gazebo'
|
||||
|
||||
# The simulator is expected to send to TCP port 4560+i for i in [0, N-1]
|
||||
# For example gazebo can be run like this:
|
||||
#./Tools/simulation/gazebo-classic/sitl_multiple_run.sh -n 10 -m iris
|
||||
#./Tools/simulation/gazebo/sitl_multiple_run.sh -n 10 -m iris
|
||||
|
||||
function cleanup() {
|
||||
pkill -x px4
|
||||
@@ -35,7 +35,7 @@ function spawn_model() {
|
||||
pushd "$working_dir" &>/dev/null
|
||||
echo "starting instance $N in $(pwd)"
|
||||
$build_path/bin/px4 -i $N -d "$build_path/etc" >out.log 2>err.log &
|
||||
python3 ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
|
||||
python3 ${src_path}/Tools/simulation/gazebo/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/simulation/gazebo/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/simulation/gazebo/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
|
||||
|
||||
echo "Spawning ${MODEL}_${N} at ${X} ${Y}"
|
||||
|
||||
@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
|
||||
world=${WORLD:=empty}
|
||||
target=${TARGET:=px4_sitl_default}
|
||||
vehicle_model=${VEHICLE_MODEL:="iris"}
|
||||
export PX4_SIM_MODEL=gazebo-classic_${vehicle_model}
|
||||
export PX4_SIM_MODEL=gazebo_${vehicle_model}
|
||||
|
||||
echo ${SCRIPT}
|
||||
SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
|
||||
@@ -84,7 +84,7 @@ pkill -x px4 || true
|
||||
|
||||
sleep 1
|
||||
|
||||
source ${src_path}/Tools/simulation/gazebo-classic/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
|
||||
source ${src_path}/Tools/simulation/gazebo/setup_gazebo.bash ${src_path} ${src_path}/build/${target}
|
||||
|
||||
# To use gazebo_ros ROS2 plugins
|
||||
if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
|
||||
@@ -94,7 +94,7 @@ else
|
||||
fi
|
||||
|
||||
echo "Starting gazebo"
|
||||
gzserver ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world --verbose $ros_args &
|
||||
gzserver ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
|
||||
sleep 5
|
||||
|
||||
n=0
|
||||
@@ -126,7 +126,7 @@ else
|
||||
|
||||
m=0
|
||||
while [ $m -lt ${target_number} ]; do
|
||||
export PX4_SIM_MODEL=gazebo-classic_${target_vehicle}
|
||||
export PX4_SIM_MODEL=gazebo_${target_vehicle}
|
||||
spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
|
||||
m=$(($m + 1))
|
||||
n=$(($n + 1))
|
||||
@@ -67,7 +67,7 @@ fi
|
||||
# be running from last time
|
||||
pkill -x gazebo || true
|
||||
|
||||
export PX4_SIM_MODEL=gazebo-classic_${model}
|
||||
export PX4_SIM_MODEL=gazebo_${model}
|
||||
export PX4_SIM_WORLD=${world}
|
||||
|
||||
SIM_PID=0
|
||||
@@ -77,25 +77,25 @@ if [ -x "$(command -v gazebo)" ]; then
|
||||
model_name="${model}"
|
||||
|
||||
# Set the plugin path so Gazebo finds our model and sim
|
||||
source "$src_path/Tools/simulation/gazebo-classic/setup_gazebo.bash" "${src_path}" "${build_path}"
|
||||
source "$src_path/Tools/simulation/gazebo/setup_gazebo.bash" "${src_path}" "${build_path}"
|
||||
if [ -z $PX4_SITL_WORLD ]; then
|
||||
#Spawn predefined world
|
||||
if [ "$world" == "none" ]; then
|
||||
if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world ]; then
|
||||
if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world ]; then
|
||||
echo "empty world, default world ${model}.world for model found"
|
||||
world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${model}.world"
|
||||
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${model}.world"
|
||||
else
|
||||
echo "empty world, setting empty.world as default"
|
||||
world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/empty.world"
|
||||
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/empty.world"
|
||||
fi
|
||||
else
|
||||
#Spawn empty world if world with model name doesn't exist
|
||||
world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${world}.world"
|
||||
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${world}.world"
|
||||
fi
|
||||
else
|
||||
if [ -f ${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world ]; then
|
||||
if [ -f ${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world ]; then
|
||||
# Spawn world by name if exists in the worlds directory from environment variable
|
||||
world_path="${src_path}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/${PX4_SITL_WORLD}.world"
|
||||
world_path="${src_path}/Tools/simulation/gazebo/sitl_gazebo/worlds/${PX4_SITL_WORLD}.world"
|
||||
else
|
||||
# Spawn world from environment variable with absolute path
|
||||
world_path="$PX4_SITL_WORLD"
|
||||
File diff suppressed because one or more lines are too long
@@ -1,165 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
|
||||
<asset>
|
||||
<contributor>
|
||||
<authoring_tool>SketchUp 15.3.331</authoring_tool>
|
||||
</contributor>
|
||||
<created>2015-05-26T23:41:25Z</created>
|
||||
<modified>2015-05-26T23:41:25Z</modified>
|
||||
<unit meter="0.0254" name="inch" />
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="ID1">
|
||||
<node name="SketchUp">
|
||||
<node id="ID2" name="instance_0">
|
||||
<matrix>0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 -0 0 1 -19.50896 0 0 0 1</matrix>
|
||||
<instance_node url="#ID3" />
|
||||
</node>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<library_nodes>
|
||||
<node id="ID3" name="ske2A3">
|
||||
<node id="ID4" name="group_0">
|
||||
<matrix>1.963935 -3.469447e-018 0 1.237124 3.469447e-018 1.963935 0 258.791 0 0 1.963935 40.4385 0 0 0 1</matrix>
|
||||
<instance_geometry url="#ID5">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="Material2" target="#ID6">
|
||||
<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
|
||||
</instance_material>
|
||||
<instance_material symbol="Material3" target="#ID11">
|
||||
<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
|
||||
</instance_material>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
<node id="ID15" name="group_1">
|
||||
<matrix>1.963935 -4.336809e-018 0 -68.35112 4.336809e-018 1.963935 0 258.791 0 0 1.963935 40.4385 0 0 0 1</matrix>
|
||||
<instance_geometry url="#ID16">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="Material2" target="#ID6">
|
||||
<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
|
||||
</instance_material>
|
||||
<instance_material symbol="Material3" target="#ID11">
|
||||
<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
|
||||
</instance_material>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
</node>
|
||||
</library_nodes>
|
||||
<library_geometries>
|
||||
<geometry id="ID5">
|
||||
<mesh>
|
||||
<source id="ID8">
|
||||
<float_array id="ID13" count="126">29.29134 15.47244 1.496063 -2.220446e-016 15.47244 0.2362205 29.29134 15.47244 0.1574803 29.29134 15.47244 0.1574803 -2.220446e-016 15.47244 0.2362205 29.29134 15.47244 1.496063 0.07874016 15.55118 1.574803 -2.220446e-016 15.47244 0.2362205 29.29134 15.47244 1.496063 29.29134 15.47244 1.496063 -2.220446e-016 15.47244 0.2362205 0.07874016 15.55118 1.574803 29.29134 15.47244 0.1574803 -2.220446e-016 15.47244 0.2362205 0.2362205 17.71654 0.2362205 0.2362205 17.71654 0.2362205 -2.220446e-016 15.47244 0.2362205 29.29134 15.47244 0.1574803 0.2362205 17.71654 0.2362205 -2.220446e-016 15.47244 0.2362205 0.07874016 15.55118 1.574803 0.07874016 15.55118 1.574803 -2.220446e-016 15.47244 0.2362205 0.2362205 17.71654 0.2362205 29.29134 15.47244 1.496063 0.2362205 17.71654 1.574803 0.07874016 15.55118 1.574803 0.07874016 15.55118 1.574803 0.2362205 17.71654 1.574803 29.29134 15.47244 1.496063 29.33071 23.14961 1.220472 29.33071 23.14961 1.220472 0.2362205 17.71654 1.574803 0.2362205 17.71654 1.574803 3.779528 26.81102 1.220472 3.779528 26.81102 1.220472 3.779528 26.81102 1.220472 3.779528 26.81102 1.220472 3.779528 26.81102 1.220472 3.779528 26.81102 1.220472 29.33071 23.14961 1.220472 29.33071 23.14961 1.220472</float_array>
|
||||
<technique_common>
|
||||
<accessor count="42" source="#ID13" stride="3">
|
||||
<param name="X" type="float" />
|
||||
<param name="Y" type="float" />
|
||||
<param name="Z" type="float" />
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="ID9">
|
||||
<float_array id="ID14" count="126">8.832897e-019 -1 0 8.832897e-019 -1 0 8.832897e-019 -1 0 -8.832897e-019 1 -0 -8.832897e-019 1 -0 -8.832897e-019 1 -0 -0.002532054 -0.9982624 0.05887026 -0.002532054 -0.9982624 0.05887026 -0.002532054 -0.9982624 0.05887026 0.002532054 0.9982624 -0.05887026 0.002532054 0.9982624 -0.05887026 0.002532054 0.9982624 -0.05887026 0.007390569 0.1304752 -0.991424 -0.002688162 0.0002829644 -0.9999963 0.004389455 0.04876336 -0.9988007 -0.004389455 -0.04876336 0.9988007 0.002688162 -0.0002829644 0.9999963 -0.007390569 -0.1304752 0.991424 -0.9752032 0.2211027 0.009609949 -0.9931459 0.1045417 0.05227084 -0.9949927 0.093762 0.03461586 0.9949927 -0.093762 -0.03461586 0.9931459 -0.1045417 -0.05227084 0.9752032 -0.2211027 -0.009609949 0.005110827 0.03434514 0.999397 0.003976796 0.01640632 0.9998575 0.00269488 -0.0001959912 0.9999963 -0.00269488 0.0001959912 -0.9999963 -0.003976796 -0.01640632 -0.9998575 -0.005110827 -0.03434514 -0.999397 0.009196932 0.1303557 -0.9914246 -0.009196932 -0.1303557 0.9914246 -0.9758321 0.2185214 -5.056631e-018 0.9758321 -0.2185214 5.056631e-018 0.00548519 0.03663055 0.9993138 -0.00548519 -0.03663055 -0.9993138 0.0146102 0.1019572 -0.9946815 -0.0146102 -0.1019572 0.9946815 -0.9317774 0.3630302 0 0.9317774 -0.3630302 -0 0.00513686 0.03584755 0.9993441 -0.00513686 -0.03584755 -0.9993441</float_array>
|
||||
<technique_common>
|
||||
<accessor count="42" source="#ID14" stride="3">
|
||||
<param name="X" type="float" />
|
||||
<param name="Y" type="float" />
|
||||
<param name="Z" type="float" />
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="ID10">
|
||||
<input semantic="POSITION" source="#ID8" />
|
||||
<input semantic="NORMAL" source="#ID9" />
|
||||
</vertices>
|
||||
<triangles count="13" material="Material2">
|
||||
<input offset="0" semantic="VERTEX" source="#ID10" />
|
||||
<p>0 1 2 6 7 8 6 7 8 12 13 14 18 19 20 0 1 2 24 25 26 30 12 14 18 20 32 24 34 25 30 14 36 38 18 32 40 34 24</p>
|
||||
</triangles>
|
||||
<triangles count="13" material="Material3">
|
||||
<input offset="0" semantic="VERTEX" source="#ID10" />
|
||||
<p>3 4 5 9 10 11 9 10 11 15 16 17 21 22 23 3 4 5 27 28 29 15 17 31 33 21 23 28 35 29 37 15 31 33 23 39 29 35 41</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<geometry id="ID16">
|
||||
<mesh>
|
||||
<source id="ID17">
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<constant>
|
||||
<transparent opaque="A_ONE">
|
||||
<color>0.1843137 0.3098039 0.3098039 1</color>
|
||||
</transparent>
|
||||
<transparency>
|
||||
<float>1</float>
|
||||
</transparency>
|
||||
</constant>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<scene>
|
||||
<instance_visual_scene url="#ID1" />
|
||||
</scene>
|
||||
</COLLADA>
|
||||
File diff suppressed because one or more lines are too long
@@ -1,15 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<model>
|
||||
<name>rc_cessna</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.9'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Benjamin Perseghetti</name>
|
||||
<email>bperseghetti@rudislabs.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
This is a model of an RC Cessna 182.
|
||||
</description>
|
||||
</model>
|
||||
@@ -1,816 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version='1.9'>
|
||||
<model name='rc_cessna'>
|
||||
<pose>0 0 0.246 0 0 0</pose>
|
||||
<link name='base_link'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>1.5</mass>
|
||||
<inertia>
|
||||
<ixx>0.197563</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1458929</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1477</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='fuselodge_collision'>
|
||||
<pose>-.14 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.65 .08 0.10</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>10</max_vel>
|
||||
<min_depth>0.01</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<collision name='wings_collision'>
|
||||
<pose>-0.01 0 0.07 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 1.0 0.01</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<max_vel>10</max_vel>
|
||||
<min_depth>0.01</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
</surface>
|
||||
</collision>
|
||||
<!-- <visual name='fuselodge_collision_visual'>
|
||||
<pose>-.14 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.65 .08 0.1</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='wings_collision_visual'>
|
||||
<pose>-0.01 0 0.07 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.1 1.0 0.01</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual> -->
|
||||
<visual name='base_link_visual'>
|
||||
<pose>0.07 0 -0.08 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://rc_cessna/meshes/body.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>.175 .175 .175 1.0</ambient>
|
||||
<diffuse>.175 .175 .175 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay/>
|
||||
<self_collide>0</self_collide>
|
||||
<sensor name="imu_sensor" type="imu">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>250</update_rate>
|
||||
</sensor>
|
||||
</link>
|
||||
<link name="airspeed">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>0.015</mass>
|
||||
<inertia>
|
||||
<ixx>1e-05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>1e-05</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="airspeed_visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.01</radius>
|
||||
<length>0.1</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 0 1.0</ambient>
|
||||
<diffuse>0 0 0 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<!-- <sensor name="air_speed" type="air_speed">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>5.0</update_rate>
|
||||
<enable_metrics>false</enable_metrics>
|
||||
<air_speed>
|
||||
<airspeed>
|
||||
<noise type="gaussian">
|
||||
<mean>0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</airspeed>
|
||||
</air_speed>
|
||||
</sensor> -->
|
||||
</link>
|
||||
<joint name='airspeed_joint' type='fixed'>
|
||||
<child>airspeed</child>
|
||||
<parent>base_link</parent>
|
||||
</joint>
|
||||
<link name='rotor_puller'>
|
||||
<pose>0.22 0 0.0 0 1.57079632679 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>0.005</mass>
|
||||
<inertia>
|
||||
<ixx>9.75e-07</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.000166704</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.000167604</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='rotor_puller_collision'>
|
||||
<pose>0 0 0 0 -1.57079632679 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.005 0.22 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<!-- <visual name='rotor_puller_collision_visual'>
|
||||
<pose>0 0 0 0 -1.57079632679 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.005 0.22 0.02</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual> -->
|
||||
<visual name='rotor_puller_visual'>
|
||||
<pose>0 0 0 0 0 -1.57079632679</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://rc_cessna/meshes/iris_prop_ccw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay/>
|
||||
<self_collide>0</self_collide>
|
||||
</link>
|
||||
<joint name='rotor_puller_joint' type='revolute'>
|
||||
<child>rotor_puller</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="left_elevon">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<iyy>0.000001</iyy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
<pose>0 0.3 0 0.00 0 0.0</pose>
|
||||
</inertial>
|
||||
<visual name='left_elevon_visual'>
|
||||
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://rc_cessna/meshes/left_aileron.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="LeftWheel">
|
||||
<pose relative_to="LeftWheelJoint">0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>.05</mass>
|
||||
<inertia>
|
||||
<ixx>0.00003331</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0000204</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0000204</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<gravity>true</gravity>
|
||||
<velocity_decay/>
|
||||
<visual name="LeftWheelVisual">
|
||||
<pose>0 0 0 -1.57079632679 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.01</length>
|
||||
<radius>0.03</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="LeftWheelCollision">
|
||||
<pose>0 0 0 -1.57079632679 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.01</length>
|
||||
<radius>0.03</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1.0</mu>
|
||||
<mu2>0.5</mu2>
|
||||
<fdir1>0 0 1</fdir1>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="RightWheel">
|
||||
<pose relative_to="RightWheelJoint">0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>.05</mass>
|
||||
<inertia>
|
||||
<ixx>0.00003331</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0000204</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0000204</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<gravity>true</gravity>
|
||||
<velocity_decay/>
|
||||
<visual name="RightWheelVisual">
|
||||
<pose>0 0 0 -1.57079632679 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.01</length>
|
||||
<radius>0.03</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="RightWheelCollision">
|
||||
<pose>0 0 0 -1.57079632679 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.01</length>
|
||||
<radius>0.03</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1.0</mu>
|
||||
<mu2>0.5</mu2>
|
||||
<fdir1>0 0 1</fdir1>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="CenterWheel">
|
||||
<pose relative_to="CenterWheelJoint">0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<mass>.05</mass>
|
||||
<inertia>
|
||||
<ixx>0.00003331</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0000204</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0000204</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<gravity>true</gravity>
|
||||
<velocity_decay/>
|
||||
<visual name="CenterWheelVisual">
|
||||
<pose>0 0 0 -1.57079632679 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.01</length>
|
||||
<radius>0.025</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="CenterWheelCollision">
|
||||
<pose>0 0 0 -1.57079632679 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.01</length>
|
||||
<radius>0.025</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>1.0</mu>
|
||||
<mu2>0.5</mu2>
|
||||
<fdir1>0 0 1</fdir1>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="right_elevon">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<iyy>0.000001</iyy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
<pose>0 -0.3 0 0.00 0 0.0</pose>
|
||||
</inertial>
|
||||
<visual name='right_elevon_visual'>
|
||||
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://rc_cessna/meshes/right_aileron.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="left_flap">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<iyy>0.000001</iyy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
<pose>0 0.15 0 0.00 0 0.0</pose>
|
||||
</inertial>
|
||||
<visual name='left_flap_visual'>
|
||||
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://rc_cessna/meshes/left_flap.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="right_flap">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<iyy>0.000001</iyy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
<pose>0 -0.15 0 0.00 0 0.0</pose>
|
||||
</inertial>
|
||||
<visual name='right_flap_visual'>
|
||||
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://rc_cessna/meshes/right_flap.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="elevator">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<iyy>0.000001</iyy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
<pose> -0.5 0 0 0.00 0 0.0</pose>
|
||||
</inertial>
|
||||
<visual name='elevator_visual'>
|
||||
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://rc_cessna/meshes/elevators.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="rudder">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<iyy>0.000001</iyy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
<pose>-0.5 0 0.05 0 0 0 </pose>
|
||||
</inertial>
|
||||
<visual name='rudder_visual'>
|
||||
<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.1 0.1 0.1</scale>
|
||||
<uri>model://rc_cessna/meshes/rudder.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 1 1.0</ambient>
|
||||
<diffuse>0 0 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='servo_0' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>left_elevon</child>
|
||||
<pose>-0.07 0.4 0.08 0.00 0 0.0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='servo_1' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>right_elevon</child>
|
||||
<pose>-0.07 -0.4 0.08 0.00 0 0.0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='left_flap_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>left_flap</child>
|
||||
<pose>-0.07 0.2 0.08 0.00 0 0.0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='right_flap_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>right_flap</child>
|
||||
<pose>-0.07 -0.2 0.08 0.00 0 0.0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='servo_2' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>elevator</child>
|
||||
<pose> -0.5 0 0 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<!-- -30/+30 deg. -->
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name='rudder_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>rudder</child>
|
||||
<pose>-0.5 0 0.05 0.00 0 0.0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
<physics>
|
||||
<ode>
|
||||
<implicit_spring_damper>1</implicit_spring_damper>
|
||||
</ode>
|
||||
</physics>
|
||||
</joint>
|
||||
<joint name="LeftWheelJoint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>LeftWheel</child>
|
||||
<pose relative_to="base_link">-.035 .13 -0.12 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</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>
|
||||
<joint name="RightWheelJoint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>RightWheel</child>
|
||||
<pose relative_to="base_link">-.035 -.13 -0.12 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</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>
|
||||
<joint name="CenterWheelJoint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>CenterWheel</child>
|
||||
<pose relative_to="base_link">.135 0 -0.12 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-1.79769e+308</lower>
|
||||
<upper>1.79769e+308</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="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.05 0.45 0.05</cp>
|
||||
<area>0.6</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>servo_0</control_joint_name>
|
||||
<control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_0</joint_name>
|
||||
<sub_topic>servo_0</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.05 -0.45 0.05</cp>
|
||||
<area>0.6</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>servo_1</control_joint_name>
|
||||
<control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_1</joint_name>
|
||||
<sub_topic>servo_1</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.05 0.15 0.05</cp>
|
||||
<area>0.6</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>left_flap_joint</control_joint_name>
|
||||
<control_joint_rad_to_cl>-0.1</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.05984281113</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.05 -0.15 0.05</cp>
|
||||
<area>0.6</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>right_flap_joint</control_joint_name>
|
||||
<control_joint_rad_to_cl>-0.1</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>-0.2</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.5 0 0</cp>
|
||||
<area>0.01</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 0 1</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>servo_2</control_joint_name>
|
||||
<control_joint_rad_to_cl>-4.0</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>servo_2</joint_name>
|
||||
<sub_topic>servo_2</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
|
||||
<a0>0.0</a0>
|
||||
<cla>4.752798721</cla>
|
||||
<cda>0.6417112299</cda>
|
||||
<cma>0.0</cma>
|
||||
<alpha_stall>0.3391428111</alpha_stall>
|
||||
<cla_stall>-3.85</cla_stall>
|
||||
<cda_stall>-0.9233984055</cda_stall>
|
||||
<cma_stall>0</cma_stall>
|
||||
<cp>-0.5 0 0.05</cp>
|
||||
<area>0.02</area>
|
||||
<air_density>1.2041</air_density>
|
||||
<forward>1 0 0</forward>
|
||||
<upward>0 1 0</upward>
|
||||
<link_name>base_link</link_name>
|
||||
<control_joint_name>rudder_joint</control_joint_name>
|
||||
<control_joint_rad_to_cl>0.8</control_joint_rad_to_cl>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>rudder_joint</joint_name>
|
||||
<sub_topic>servo_3</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_puller_joint</jointName>
|
||||
<linkName>rotor_puller</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1000</maxRotVelocity>
|
||||
<motorConstant>2.44858e-05</motorConstant>
|
||||
<momentConstant>0.016</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>0</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<static>0</static>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -528,7 +528,7 @@
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_1_joint</jointName>
|
||||
<linkName>rotor_1</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
@@ -544,7 +544,7 @@
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_2_joint</jointName>
|
||||
<linkName>rotor_2</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
@@ -560,7 +560,7 @@
|
||||
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_3_joint</jointName>
|
||||
<linkName>rotor_3</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
|
||||
@@ -37,10 +37,6 @@ else
|
||||
no_pxh=""
|
||||
fi
|
||||
|
||||
if [ -n $FG_BINARY ]; then
|
||||
FG_BINARY=fgfs
|
||||
fi
|
||||
|
||||
export PX4_SIM_MODEL=jsbsim_${model}
|
||||
export PX4_SIM_WORLD=${world}
|
||||
|
||||
@@ -72,7 +68,7 @@ if [[ -n "$HEADLESS" ]]; then
|
||||
else
|
||||
export FG_AIRCRAFT="${SRC_DIR}/Tools/simulation/jsbsim/jsbsim_bridge/models"
|
||||
|
||||
$FG_BINARY --fdm=null \
|
||||
fgfs --fdm=null \
|
||||
--native-fdm=socket,in,60,,5550,udp \
|
||||
--aircraft=$JSBSIM_AIRCRAFT_MODEL \
|
||||
--airport=${world} \
|
||||
|
||||
@@ -19,7 +19,7 @@ pkill -x px4 || true
|
||||
|
||||
sleep 1
|
||||
|
||||
export PX4_SIM_MODEL=gazebo-classic_iris
|
||||
export PX4_SIM_MODEL=gazebo_iris
|
||||
|
||||
n=0
|
||||
while [ $n -lt $sitl_num ]; do
|
||||
|
||||
@@ -80,7 +80,6 @@ CONFIG_CDCACM_VENDORSTR="3D Robotics"
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
|
||||
@@ -17,12 +17,10 @@ CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
|
||||
# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
|
||||
# CONFIG_SENSORS_VEHICLE_ACCELERATION is not set
|
||||
# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
|
||||
# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
|
||||
@@ -21,7 +21,6 @@ CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DISABLE_MOUNTPOINT=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
|
||||
@@ -64,7 +64,6 @@ CONFIG_BUILTIN=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
|
||||
@@ -21,7 +21,6 @@ CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DISABLE_MOUNTPOINT=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
|
||||
@@ -64,7 +64,6 @@ CONFIG_BUILTIN=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
|
||||
@@ -21,7 +21,6 @@ CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DISABLE_MOUNTPOINT=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
|
||||
@@ -64,7 +64,6 @@ CONFIG_BUILTIN=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
|
||||
@@ -29,5 +29,4 @@ CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
CONFIG_SYSTEMCMDS_UORB=y
|
||||
CONFIG_SYSTEMCMDS_VER=y
|
||||
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
|
||||
|
||||
@@ -21,7 +21,6 @@ CONFIG_BOARDCTL=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=16717
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DISABLE_MOUNTPOINT=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
|
||||
@@ -42,9 +42,3 @@
|
||||
//--------------------------------------------//---------------------------//----------------
|
||||
#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_2 // DMA2, Stream 2, Channel 3
|
||||
#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2 // DMA2, Stream 5, Channel 3
|
||||
|
||||
// Assigned in timer_config.cpp
|
||||
|
||||
// Timer 2 /* DMA1, Stream 7, Channel 3 DMAMAP_TIM2_UP_2 */
|
||||
// Timer 3 /* DMA1, Stream 2, Channel 5 DMAMAP_TIM3_UP */
|
||||
// Timer 4 /* DMA1, Stream 6, Channel 2 DMAMAP_TIM4_UP */
|
||||
|
||||
@@ -64,7 +64,6 @@ CONFIG_BUILTIN=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEBUG_TCBINFO=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
|
||||
@@ -62,8 +62,7 @@
|
||||
#define GPIO_TIM1_CH3 /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
|
||||
|
||||
/* PWM Outputs */
|
||||
#define BOARD_NUM_IO_TIMERS 3
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 6 // Actually 8
|
||||
|
||||
#define GPIO_TIM2_CH1_RESET /* PA0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
|
||||
#define GPIO_TIM2_CH2_RESET /* PA1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
|
||||
|
||||
@@ -34,9 +34,9 @@
|
||||
#include <px4_arch/io_timer_hw_description.h>
|
||||
|
||||
constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
|
||||
initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream7, DMA::Channel3}),
|
||||
initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
|
||||
initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
|
||||
initIOTimer(Timer::Timer2),
|
||||
initIOTimer(Timer::Timer3),
|
||||
//initIOTimer(Timer::Timer4),
|
||||
};
|
||||
|
||||
constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
@@ -46,8 +46,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortB, GPIO::Pin4}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortB, GPIO::Pin5}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
|
||||
initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
|
||||
//initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
|
||||
//initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
|
||||
};
|
||||
|
||||
constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
|
||||
|
||||
Binary file not shown.
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user