mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-25 00:37:34 +08:00
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2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 JaeyoungLim
|
7dc4f3122f | ||
|
JaeyoungLim
|
3cc0e32262 |
@@ -0,0 +1,54 @@
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||||
#!/bin/sh
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#
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# @name Gazebo x500 vision
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#
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# @type Quadrotor
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#
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. ${R}etc/init.d/rc.mc_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
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PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=crazyflie}
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param set-default SIM_GZ_EN 1
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param set-default SENS_EN_GPSSIM 1
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param set-default SENS_EN_BAROSIM 0
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param set-default SENS_EN_MAGSIM 1
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param set-default CA_AIRFRAME 0
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param set-default CA_ROTOR_COUNT 4
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param set-default CA_ROTOR0_PX 0.13
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param set-default CA_ROTOR0_PY 0.22
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX -0.13
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param set-default CA_ROTOR1_PY -0.20
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_ROTOR2_PX 0.13
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param set-default CA_ROTOR2_PY -0.22
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -0.13
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param set-default CA_ROTOR3_PY 0.20
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param set-default CA_ROTOR3_KM -0.05
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param set-default SIM_GZ_EC_FUNC1 101
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param set-default SIM_GZ_EC_FUNC2 102
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param set-default SIM_GZ_EC_FUNC3 103
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param set-default SIM_GZ_EC_FUNC4 104
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param set-default SIM_GZ_EC_MIN1 150
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param set-default SIM_GZ_EC_MIN2 150
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param set-default SIM_GZ_EC_MIN3 150
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param set-default SIM_GZ_EC_MIN4 150
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param set-default SIM_GZ_EC_MAX1 1000
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param set-default SIM_GZ_EC_MAX2 1000
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param set-default SIM_GZ_EC_MAX3 1000
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param set-default SIM_GZ_EC_MAX4 1000
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param set-default MPC_THR_HOVER 0.60
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@@ -75,6 +75,7 @@ px4_add_romfs_files(
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4003_gz_rc_cessna
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4004_gz_standard_vtol
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4005_gz_x500_vision
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4006_gz_crazyflie
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6011_gazebo-classic_typhoon_h480
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6011_gazebo-classic_typhoon_h480.post
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@@ -0,0 +1,24 @@
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<?xml version="1.0"?>
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<!--
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||||
........... ____ _ __
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| ,-^-, | / __ )(_) /_______________ _____ ___
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||||
| ( O ) | / __ / / __/ ___/ ___/ __ `/_ / / _ \
|
||||
| / ,..´ | / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
|
||||
+....... /_____/_/\__/\___/_/ \__,_/ /___/\___/
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|
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MIT License
|
||||
|
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Copyright (c) 2022 Bitcraze
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-->
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<model>
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<name>crazyflie</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name>Kimberly McGuire (Bitcraze AB)</name>
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<email>kimberly@bitcraze.io</email>
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</author>
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<description>
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A model of the Crazyflie 2.X nano-quadcopter
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</description>
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</model>
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@@ -0,0 +1,290 @@
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<?xml version="1.0" ?>
|
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<!--
|
||||
........... ____ _ __
|
||||
| ,-^-, | / __ )(_) /_______________ _____ ___
|
||||
| ( O ) | / __ / / __/ ___/ ___/ __ `/_ / / _ \
|
||||
| / ,..´ | / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
|
||||
+....... /_____/_/\__/\___/_/ \__,_/ /___/\___/
|
||||
|
||||
MIT License
|
||||
|
||||
Copyright (c) 2022 Bitcraze
|
||||
-->
|
||||
|
||||
<sdf version="1.8">
|
||||
<model name="crazyflie">
|
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<pose>0 0 0.0 0 0 3.14</pose>
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||||
<link name="crazyflie/body">
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>0.025</mass>
|
||||
<inertia>
|
||||
<ixx>0.000016572</ixx>
|
||||
<ixy>0.00</ixy>
|
||||
<ixz>0.00</ixz>
|
||||
<iyy>0.000016656</iyy>
|
||||
<iyz>0.00000</iyz>
|
||||
<izz>0.000029262</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="crazyflie/body_collision">
|
||||
<pose>0 0 0 0 0 0</pose>
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||||
<geometry>
|
||||
<box>
|
||||
<size>0.10 0.10 0.03</size>
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||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="crazyflie/body_visual">
|
||||
<pose>0 0 0 0 -0 0</pose>
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||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://crazyflie/meshes/collada_files/cf2_assembly.dae</uri>
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||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="crazyflie/m1_prop">
|
||||
<pose>0.031 -0.031 0.021 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>0.0008</mass>
|
||||
<inertia>
|
||||
<ixx>0.000000002*70</ixx>
|
||||
<iyy>0.000000167*70</iyy>
|
||||
<izz>0.000000168*70</izz>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyz>0</iyz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="crazyflie/m1_visual">
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://crazyflie/meshes/collada_files/ccw_prop.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="crazyflie/m2_prop">
|
||||
<pose>-0.031 -0.031 0.021 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>0.0008</mass>
|
||||
<inertia>
|
||||
<ixx>0.000000002*50</ixx>
|
||||
<iyy>0.000000167*50</iyy>
|
||||
<izz>0.000000168*50</izz>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyz>0</iyz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="crazyflie/m2_visual">
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://crazyflie/meshes/collada_files/cw_prop.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="crazyflie/m3_prop">
|
||||
<pose >-0.031 0.031 0.021 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>0.0008</mass>
|
||||
<inertia>
|
||||
<ixx>0.000000002*50</ixx>
|
||||
<iyy>0.000000167*50</iyy>
|
||||
<izz>0.000000168*50</izz>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyz>0</iyz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="crazyflie/m3_visual">
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://crazyflie/meshes/collada_files/ccw_prop.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name="crazyflie/m4_prop">
|
||||
<pose>0.031 0.031 0.021 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<mass>0.0008</mass>
|
||||
<inertia>
|
||||
<ixx>0.000000002*50</ixx>
|
||||
<iyy>0.000000167*50</iyy>
|
||||
<izz>0.000000168*50</izz>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyz>0</iyz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="crazyflie/m4_visual">
|
||||
<pose>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://crazyflie/meshes/collada_files/cw_prop.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="crazyflie/m1_joint" type="revolute">
|
||||
<child>crazyflie/m1_prop</child>
|
||||
<parent>crazyflie/body</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>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name="crazyflie/m2_joint" type="revolute">
|
||||
<child>crazyflie/m2_prop</child>
|
||||
<parent>crazyflie/body</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>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name="crazyflie/m3_joint" type="revolute">
|
||||
<child>crazyflie/m3_prop</child>
|
||||
<parent>crazyflie/body</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>
|
||||
</axis>
|
||||
</joint>
|
||||
<joint name="crazyflie/m4_joint" type="revolute">
|
||||
<child>crazyflie/m4_prop</child>
|
||||
<parent>crazyflie/body</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>
|
||||
</axis>
|
||||
</joint>
|
||||
<plugin
|
||||
filename="ignition-gazebo-multicopter-motor-model-system"
|
||||
name="gz::sim::systems::MulticopterMotorModel">
|
||||
<robotNamespace>crazyflie</robotNamespace>
|
||||
<jointName>crazyflie/m1_joint</jointName>
|
||||
<linkName>crazyflie/m1_prop</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>2618</maxRotVelocity>
|
||||
<motorConstant>1.28192e-08</motorConstant>
|
||||
<momentConstant>0.005964552</momentConstant>
|
||||
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
|
||||
<motorNumber>0</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>0.0000001</rollingMomentCoefficient>
|
||||
<motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
|
||||
<rotorVelocitySlowdownSim>150</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="ignition-gazebo-multicopter-motor-model-system"
|
||||
name="gz::sim::systems::MulticopterMotorModel">
|
||||
<robotNamespace>crazyflie</robotNamespace>
|
||||
<jointName>crazyflie/m2_joint</jointName>
|
||||
<linkName>crazyflie/m2_prop</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>2618</maxRotVelocity>
|
||||
<motorConstant>1.28192e-08</motorConstant>
|
||||
<momentConstant>0.005964552</momentConstant>
|
||||
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
|
||||
<motorNumber>1</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>0.0000001</rollingMomentCoefficient>
|
||||
<motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
|
||||
<rotorVelocitySlowdownSim>150</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="ignition-gazebo-multicopter-motor-model-system"
|
||||
name="gz::sim::systems::MulticopterMotorModel">
|
||||
<robotNamespace>crazyflie</robotNamespace>
|
||||
<jointName>crazyflie/m3_joint</jointName>
|
||||
<linkName>crazyflie/m3_prop</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>2618</maxRotVelocity>
|
||||
<motorConstant>1.28192e-08</motorConstant>
|
||||
<momentConstant>0.005964552</momentConstant>
|
||||
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
|
||||
<motorNumber>2</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>0.0000001</rollingMomentCoefficient>
|
||||
<motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
|
||||
<rotorVelocitySlowdownSim>150</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="ignition-gazebo-multicopter-motor-model-system"
|
||||
name="gz::sim::systems::MulticopterMotorModel">
|
||||
<robotNamespace>crazyflie</robotNamespace>
|
||||
<jointName>crazyflie/m4_joint</jointName>
|
||||
<linkName>crazyflie/m4_prop</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>2618</maxRotVelocity>
|
||||
<motorConstant>1.28192e-08</motorConstant>
|
||||
<momentConstant>0.005964552</momentConstant>
|
||||
<commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
|
||||
<motorNumber>3</motorNumber>
|
||||
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>0.000001</rollingMomentCoefficient>
|
||||
<motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
|
||||
<rotorVelocitySlowdownSim>150</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="ignition-gazebo-odometry-publisher-system"
|
||||
name="ignition::gazebo::systems::OdometryPublisher">
|
||||
<dimensions>3</dimensions>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user