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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-14 02:10:05 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
6b0cf1652e |
@@ -62,8 +62,6 @@ pipeline {
|
||||
"holybro_durandal-v1_default",
|
||||
"holybro_kakutef7_default",
|
||||
"holybro_kakuteh7_default",
|
||||
"holybro_kakuteh7v2_default",
|
||||
"holybro_kakuteh7mini_default",
|
||||
"holybro_pix32v5_default",
|
||||
"matek_gnss-m9n-f4_canbootloader",
|
||||
"matek_gnss-m9n-f4_default",
|
||||
@@ -110,8 +108,6 @@ pipeline {
|
||||
"raspberrypi_pico_default",
|
||||
"sky-drones_smartap-airlink_default",
|
||||
"spracing_h7extreme_default",
|
||||
"thepeach_k1_default",
|
||||
"thepeach_r1_default",
|
||||
"uvify_core_default"
|
||||
],
|
||||
image: docker_images.nuttx,
|
||||
|
||||
@@ -30,7 +30,6 @@ jobs:
|
||||
cuav_nora,
|
||||
cuav_x7pro,
|
||||
cubepilot_cubeorange,
|
||||
cubepilot_cubeorangeplus,
|
||||
cubepilot_cubeyellow,
|
||||
diatone_mamba-f405-mk2,
|
||||
freefly_can-rtk-gps,
|
||||
|
||||
Vendored
+1
-1
@@ -180,7 +180,7 @@ CONFIG:
|
||||
short: cubepilot_cubeorange
|
||||
buildType: MinSizeRel
|
||||
settings:
|
||||
CONFIG: cubepilot_cubeorange_test
|
||||
CONFIG: cubepilot_orange_test
|
||||
emlid_navio2_default:
|
||||
short: emlid_navio2
|
||||
buildType: MinSizeRel
|
||||
|
||||
Vendored
+9
-1
@@ -2,6 +2,7 @@
|
||||
"astyle.astylerc": "${workspaceFolder}/Tools/astyle/astylerc",
|
||||
"astyle.c.enable": true,
|
||||
"astyle.cpp.enable": true,
|
||||
"breadcrumbs.enabled": true,
|
||||
"C_Cpp.autoAddFileAssociations": false,
|
||||
"C_Cpp.clang_format_fallbackStyle": "none",
|
||||
"C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
|
||||
@@ -19,6 +20,7 @@
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||||
"cmakeExplorer.buildDir": "${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": "${workspaceFolder}/src/modules/*/module.yaml"
|
||||
}
|
||||
|
||||
Vendored
+5
-5
@@ -170,7 +170,7 @@
|
||||
]
|
||||
},
|
||||
{
|
||||
"label": "gazebo",
|
||||
"label": "ign gazebo",
|
||||
"type": "shell",
|
||||
"options": {
|
||||
"cwd": "${workspaceFolder}",
|
||||
@@ -178,7 +178,7 @@
|
||||
"IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
|
||||
}
|
||||
},
|
||||
"command": "gz sim -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
|
||||
"command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
|
||||
"isBackground": true,
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
@@ -191,7 +191,7 @@
|
||||
"close": false
|
||||
},
|
||||
"problemMatcher": [],
|
||||
"dependsOn":["gazebo kill"]
|
||||
"dependsOn":["ign gazebo kill"]
|
||||
},
|
||||
{
|
||||
"label": "gazebo-classic kill",
|
||||
@@ -211,9 +211,9 @@
|
||||
"dependsOn":["px4_sitl_cleanup"]
|
||||
},
|
||||
{
|
||||
"label": "gazebo kill",
|
||||
"label": "ign gazebo kill",
|
||||
"type": "shell",
|
||||
"command": "pkill -9 -f 'gz sim' || true",
|
||||
"command": "pkill -9 -f 'ign gazebo' || true",
|
||||
"presentation": {
|
||||
"echo": true,
|
||||
"reveal": "never",
|
||||
|
||||
@@ -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"
|
||||
|
||||
@@ -44,88 +44,81 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/con
|
||||
|
||||
## Maintenance Team
|
||||
|
||||
Note: This is the source of truth for the active maintainers of PX4 ecosystem.
|
||||
* Project: Founder
|
||||
* [Lorenz Meier](https://github.com/LorenzMeier)
|
||||
* Architecture
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
|
||||
* [Ramon Roche](https://github.com/mrpollo)
|
||||
* Communication Architecture
|
||||
* [Beat Kueng](https://github.com/bkueng)
|
||||
* [Julian Oes](https://github.com/JulianOes)
|
||||
* UI in QGroundControl
|
||||
* [Gus Grubba](https://github.com/dogmaphobic)
|
||||
* [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
|
||||
* [Mathieu Bresciani](https://github.com/bresch)
|
||||
* [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
|
||||
* [Matthias Grob](https://github.com/MaEtUgR)
|
||||
* [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
|
||||
* [Roman Bapst](https://github.com/RomanBapst)
|
||||
* [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
|
||||
* [Roman Bapst](https://github.com/RomanBapst)
|
||||
* OS / NuttX
|
||||
* [David Sidrane](https://github.com/davids5)
|
||||
* Driver Architecture
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* Commander Architecture
|
||||
* [Julian Oes](https://github.com/julianoes)
|
||||
* [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
|
||||
* [Daniel Agar](https://github.com/dagar)
|
||||
* [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
|
||||
* [Paul Riseborough](https://github.com/priseborough)
|
||||
* Vision based navigation and Obstacle Avoidance
|
||||
* [Markus Achtelik](https://github.com/markusachtelik)
|
||||
* DDS/ROS2 Interface
|
||||
* [Nuno Marques](https://github.com/TSC21)
|
||||
|
||||
| Sector | Maintainer |
|
||||
|---|---|
|
||||
| Founder | [Lorenz Meier](https://github.com/LorenzMeier) |
|
||||
| Architecture | [Daniel Agar](https://github.com/dagar) / [Beat Küng](https://github.com/bkueng)|
|
||||
| State Estimation | [Mathieu Bresciani](https://github.com/bresch) / [Paul Riseborough](https://github.com/priseborough) |
|
||||
| OS/NuttX | [David Sidrane](https://github.com/davids5) |
|
||||
| Drivers | [Daniel Agar](https://github.com/dagar) |
|
||||
| Simulation | [Jaeyoung Lim](https://github.com/Jaeyoung-Lim) |
|
||||
| ROS2 | [Beniamino Pozzan](https://github.com/beniaminopozzan) |
|
||||
| Community QnA Call | [Ramon Roche](https://github.com/mrpollo) |
|
||||
| [Documentation](https://docs.px4.io/main/en/) | [Hamish Willee](https://github.com/hamishwillee) |
|
||||
|
||||
| Vehicle Type | Maintainer |
|
||||
|---|---|
|
||||
| Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
|
||||
| Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
|
||||
| Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
|
||||
| Boat | x |
|
||||
| Rover | x |
|
||||
|
||||
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.
|
||||
See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).
|
||||
|
||||
## Supported Hardware
|
||||
|
||||
Pixhawk standard boards and proprietary boards are shown below (discontinued boards aren't listed).
|
||||
|
||||
For the most up to date information, please visit [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
|
||||
This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
|
||||
|
||||
### Pixhawk Standard Boards
|
||||
* FMUv6X and FMUv6U (STM32H7, 2021)
|
||||
* Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
|
||||
* FMUv5 and FMUv5X (STM32F7, 2019/20)
|
||||
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
|
||||
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
|
||||
* [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
|
||||
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
|
||||
* [Auterion Skynode (FMUv5X)](https://docs.auterion.com/skynode)
|
||||
* FMUv4 (STM32F4, 2015)
|
||||
* [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
|
||||
* FMUv3 (STM32F4, 2014)
|
||||
* [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
|
||||
* [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
|
||||
* [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
|
||||
* FMUv2 (STM32F4, 2013)
|
||||
* [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
|
||||
* [Pixfalcon](https://docs.px4.io/main/en/flight_controller/pixfalcon.html)
|
||||
|
||||
These boards fully comply with Pixhawk Standard, and are maintained by the PX4-Autopilot maintainers and Dronecode team
|
||||
### Manufacturer and Community supported
|
||||
* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
|
||||
* [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
|
||||
* [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
|
||||
* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
|
||||
* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
|
||||
* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
|
||||
* [Omnibus F4 SD](https://docs.px4.io/main/en/flight_controller/omnibus_f4_sd.html)
|
||||
* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
|
||||
* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
|
||||
|
||||
* FMUv6X and FMUv6C
|
||||
* [CUAV Pixahwk V6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/cuav_pixhawk_v6x.html)
|
||||
* [Holybro Pixhawk 6X (FMUv6X)](https://docs.px4.io/main/en/flight_controller/pixhawk6x.html)
|
||||
* [Holybro Pixhawk 6C (FMUv6C)](https://docs.px4.io/main/en/flight_controller/pixhawk6c.html)
|
||||
* [Holybro Pix32 v6 (FMUv6C)](https://docs.px4.io/main/en/flight_controller/holybro_pix32_v6.html)
|
||||
* FMUv5 and FMUv5X (STM32F7, 2019/20)
|
||||
* [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
|
||||
* [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
|
||||
* [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
|
||||
* [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
|
||||
* [Auterion Skynode (FMUv5X)](https://docs.auterion.com/avionics/skynode)
|
||||
* FMUv4 (STM32F4, 2015)
|
||||
* [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
|
||||
* [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
|
||||
* FMUv3 (STM32F4, 2014)
|
||||
* [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
|
||||
* [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
|
||||
* [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
|
||||
* FMUv2 (STM32F4, 2013)
|
||||
* [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
|
||||
|
||||
### Manufacturer supported
|
||||
|
||||
These boards are maintained to be compatible with PX4-Autopilot by the Manufacturers.
|
||||
|
||||
* [ARK Electronics ARKV6X](https://docs.px4.io/main/en/flight_controller/arkv6x.html)
|
||||
* [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
|
||||
* [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
|
||||
* [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
|
||||
* [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
|
||||
* [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
|
||||
* [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
|
||||
|
||||
### Community supported
|
||||
|
||||
These boards don't fully comply industry standards, and thus is solely maintained by the PX4 publc community members.
|
||||
|
||||
### Experimental
|
||||
|
||||
These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
|
||||
|
||||
* [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
|
||||
* [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
|
||||
Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
|
||||
|
||||
## Project Roadmap
|
||||
|
||||
**Note: Outdated**
|
||||
|
||||
A high level project roadmap is available [here](https://github.com/orgs/PX4/projects/25).
|
||||
|
||||
## Project Governance
|
||||
|
||||
@@ -12,10 +12,6 @@
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadx}
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
|
||||
@@ -11,11 +11,6 @@
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=airplane}
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
# disable some checks to allow to fly:
|
||||
# - with usb
|
||||
param set-default CBRK_USB_CHK 197848
|
||||
|
||||
@@ -11,10 +11,6 @@
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 1
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
param set-default VT_ELEV_MC_LOCK 0
|
||||
param set-default VT_TYPE 0
|
||||
param set-default VT_FW_DIFTHR_EN 1
|
||||
@@ -53,7 +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
|
||||
|
||||
@@ -5,12 +5,12 @@
|
||||
# @type Quadrotor Wide
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris
|
||||
. ${R}etc/init.d-posix/airframes/10016_iris
|
||||
|
||||
# EKF2: Vision position and heading, no GPS
|
||||
# EKF2: Vision position and heading
|
||||
param set-default EKF2_AID_MASK 24
|
||||
param set-default EKF2_EV_DELAY 5
|
||||
param set-default EKF2_EV_CTRL 15
|
||||
param set-default EKF2_HGT_REF 3
|
||||
param set-default EKF2_GPS_CTRL 0
|
||||
|
||||
# LPE: Vision + baro
|
||||
|
||||
@@ -10,7 +10,7 @@ param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
|
||||
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
|
||||
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
|
||||
@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
|
||||
param set-default NPFG_PERIOD 25
|
||||
param set-default FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
|
||||
@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
|
||||
param set-default NPFG_PERIOD 25
|
||||
param set-default FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
|
||||
@@ -10,6 +10,8 @@ param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default FW_L1_PERIOD 15
|
||||
|
||||
param set-default FW_P_TC 0.5
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
@@ -20,7 +22,7 @@ param set-default FW_RR_FF 0.20
|
||||
param set-default FW_RR_I 0.02
|
||||
param set-default FW_RR_P 0.22
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
|
||||
@@ -10,7 +10,7 @@ param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
|
||||
param set-default NPFG_PERIOD 25
|
||||
param set-default FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
|
||||
@@ -10,7 +10,7 @@ param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.2
|
||||
|
||||
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
|
||||
@@ -11,7 +11,7 @@ param set-default FW_LND_FL_PMIN 9.5
|
||||
param set-default FW_LND_FL_PMAX 20
|
||||
param set-default FW_LND_FLALT 5
|
||||
|
||||
param set-default NPFG_PERIOD 25
|
||||
param set-default FW_L1_PERIOD 25
|
||||
|
||||
param set-default FW_PR_FF 0.40
|
||||
param set-default FW_PR_I 0.05
|
||||
|
||||
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
|
||||
param set-default FW_LND_ANG 8
|
||||
param set-default FW_THR_LND_MAX 0
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_MAN_P_MAX 30
|
||||
|
||||
|
||||
@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
|
||||
@@ -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
|
||||
@@ -42,7 +42,7 @@ param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_REV 96 # invert both elevons
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_PR_I 0.2
|
||||
param set-default FW_PR_P 0.2
|
||||
param set-default FW_PSP_OFF 2
|
||||
|
||||
@@ -46,7 +46,7 @@ param set-default PWM_MAIN_FUNC7 201
|
||||
param set-default PWM_MAIN_FUNC8 202
|
||||
param set-default PWM_MAIN_FUNC9 203
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
|
||||
@@ -47,7 +47,7 @@ param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
|
||||
@@ -11,7 +11,7 @@ param set-default EKF2_MAG_YAWLIM 0
|
||||
param set-default FW_LND_AIRSPD_SC 1
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
param set-default FW_L1_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
|
||||
@@ -13,10 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
|
||||
|
||||
@@ -13,10 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}
|
||||
|
||||
param set-default SIM_GZ_EN 1
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
|
||||
param set-default CA_AIRFRAME 0
|
||||
param set-default CA_ROTOR_COUNT 4
|
||||
|
||||
|
||||
@@ -1,88 +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 SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
param set-default EKF2_MAG_ACCLIM 0
|
||||
param set-default EKF2_MAG_YAWLIM 0
|
||||
|
||||
param set-default FW_LND_ANG 8
|
||||
|
||||
param set-default NPFG_PERIOD 12
|
||||
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PR_FF 0.5
|
||||
param set-default FW_PR_I 0.5
|
||||
param set-default TRIM_PITCH -0.15
|
||||
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
|
||||
param set-default FW_RR_FF 0.5
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_RR_I 0.5
|
||||
|
||||
param set-default FW_YR_FF 0.5
|
||||
param set-default FW_YR_P 0.6
|
||||
param set-default FW_YR_I 0.5
|
||||
|
||||
param set-default FW_SPOILERS_LND 0.4
|
||||
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
|
||||
param set-default FW_T_CLMB_MAX 8
|
||||
param set-default FW_T_SINK_MAX 2.7
|
||||
param set-default FW_T_SINK_MIN 2.2
|
||||
|
||||
param set-default FW_W_EN 1
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 30
|
||||
|
||||
param set-default NAV_ACC_RAD 15
|
||||
param set-default NAV_DLL_ACT 2
|
||||
|
||||
param set-default RWTO_TKOFF 1
|
||||
|
||||
param set-default CA_AIRFRAME 1
|
||||
|
||||
param set-default COM_PREARM_MODE 2
|
||||
|
||||
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
|
||||
@@ -1,109 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Standard VTOL
|
||||
#
|
||||
# @type Standard VTOL
|
||||
#
|
||||
|
||||
. ${R}etc/init.d/rc.vtol_defaults
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
|
||||
|
||||
param set-default SENS_EN_GPSSIM 1
|
||||
param set-default SENS_EN_BAROSIM 0
|
||||
param set-default SENS_EN_MAGSIM 1
|
||||
param set-default SENS_EN_ARSPDSIM 1
|
||||
|
||||
# TODO: Enable motor failure detection when the
|
||||
# VTOL no longer reports 0A for all ESCs in SITL
|
||||
param set-default FD_ACT_EN 0
|
||||
param set-default FD_ACT_MOT_TOUT 500
|
||||
|
||||
param set-default CA_AIRFRAME 2
|
||||
|
||||
param set-default COM_PREARM_MODE 2
|
||||
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
param set-default CA_ROTOR0_PX 0.1515
|
||||
param set-default CA_ROTOR0_PY 0.245
|
||||
param set-default CA_ROTOR0_KM 0.05
|
||||
param set-default CA_ROTOR1_PX -0.1515
|
||||
param set-default CA_ROTOR1_PY -0.1875
|
||||
param set-default CA_ROTOR1_KM 0.05
|
||||
param set-default CA_ROTOR2_PX 0.1515
|
||||
param set-default CA_ROTOR2_PY -0.245
|
||||
param set-default CA_ROTOR2_KM -0.05
|
||||
param set-default CA_ROTOR3_PX -0.1515
|
||||
param set-default CA_ROTOR3_PY 0.1875
|
||||
param set-default CA_ROTOR3_KM -0.05
|
||||
param set-default CA_ROTOR4_AX 1.0
|
||||
param set-default CA_ROTOR4_AZ 0.0
|
||||
param set-default CA_ROTOR4_PX 0.2
|
||||
|
||||
param set-default SIM_GZ_EC_FUNC1 101
|
||||
param set-default SIM_GZ_EC_MIN1 10
|
||||
param set-default SIM_GZ_EC_MAX1 1500
|
||||
param set-default SIM_GZ_EC_FUNC2 102
|
||||
param set-default SIM_GZ_EC_MIN2 10
|
||||
param set-default SIM_GZ_EC_MAX2 1500
|
||||
param set-default SIM_GZ_EC_FUNC3 103
|
||||
param set-default SIM_GZ_EC_MIN3 10
|
||||
param set-default SIM_GZ_EC_MAX3 1500
|
||||
param set-default SIM_GZ_EC_FUNC4 104
|
||||
param set-default SIM_GZ_EC_MIN4 10
|
||||
param set-default SIM_GZ_EC_MAX4 1500
|
||||
|
||||
param set-default SIM_GZ_EC_FUNC5 105
|
||||
param set-default SIM_GZ_EC_MIN5 0
|
||||
param set-default SIM_GZ_EC_MAX5 3500
|
||||
|
||||
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 COM_RC_IN_MODE 1
|
||||
param set-default ASPD_PRIMARY 1
|
||||
|
||||
param set-default CA_SV_CS_COUNT 3
|
||||
param set-default CA_SV_CS0_TYPE 1
|
||||
param set-default CA_SV_CS0_TRQ_R -0.5
|
||||
param set-default CA_SV_CS1_TYPE 2
|
||||
param set-default CA_SV_CS1_TRQ_R 0.5
|
||||
param set-default CA_SV_CS2_TYPE 3
|
||||
param set-default CA_SV_CS2_TRQ_P 1.0
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_PR_FF 0.2
|
||||
param set-default FW_PR_P 0.9
|
||||
param set-default FW_PSP_OFF 2
|
||||
param set-default FW_P_LIM_MIN -15
|
||||
param set-default FW_RR_FF 0.1
|
||||
param set-default FW_RR_P 0.3
|
||||
param set-default FW_THR_TRIM 0.25
|
||||
param set-default FW_THR_MAX 0.6
|
||||
param set-default FW_THR_MIN 0.05
|
||||
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 MC_AIRMODE 1
|
||||
param set-default MC_ROLLRATE_P 0.3
|
||||
param set-default MC_YAW_P 1.6
|
||||
|
||||
param set-default MIS_TAKEOFF_ALT 10
|
||||
|
||||
param set-default MPC_ACC_HOR_MAX 2
|
||||
param set-default MPC_XY_P 0.8
|
||||
param set-default MPC_XY_VEL_P_ACC 3
|
||||
param set-default MPC_XY_VEL_I_ACC 4
|
||||
param set-default MPC_XY_VEL_D_ACC 0.1
|
||||
|
||||
param set-default NAV_ACC_RAD 5
|
||||
|
||||
param set-default VT_FWD_THRUST_EN 4
|
||||
param set-default VT_F_TRANS_THR 0.75
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_TYPE 2
|
||||
param set-default FD_ESCS_EN 0
|
||||
@@ -1,12 +0,0 @@
|
||||
#!/bin/sh
|
||||
#
|
||||
# @name Gazebo x500 vision
|
||||
#
|
||||
# @type Quadrotor
|
||||
#
|
||||
|
||||
. ${R}etc/init.d-posix/airframes/4001_gz_x500
|
||||
|
||||
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
|
||||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
|
||||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}
|
||||
@@ -1,6 +1,8 @@
|
||||
|
||||
mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
|
||||
|
||||
# shellcheck disable=SC2154
|
||||
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
|
||||
# shellcheck disable=SC2154
|
||||
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
|
||||
mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
|
||||
|
||||
@@ -72,9 +72,6 @@ px4_add_romfs_files(
|
||||
|
||||
4001_gz_x500
|
||||
4002_gz_x500_depth
|
||||
4003_gz_rc_cessna
|
||||
4004_gz_standard_vtol
|
||||
4005_gz_x500_vision
|
||||
|
||||
6011_gazebo-classic_typhoon_h480
|
||||
6011_gazebo-classic_typhoon_h480.post
|
||||
|
||||
@@ -8,28 +8,11 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
|
||||
|
||||
echo "INFO [init] SIH simulator"
|
||||
|
||||
if [ -n "${PX4_HOME_LAT}" ]; then
|
||||
param set SIH_LOC_LAT0 ${PX4_HOME_LAT}
|
||||
fi
|
||||
|
||||
if [ -n "${PX4_HOME_LON}" ]; then
|
||||
param set SIH_LOC_LON0 ${PX4_HOME_LON}
|
||||
fi
|
||||
|
||||
if simulator_sih start; then
|
||||
|
||||
if param compare -s SENS_EN_BAROSIM 1
|
||||
then
|
||||
sensor_baro_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_GPSSIM 1
|
||||
then
|
||||
sensor_gps_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_MAGSIM 1
|
||||
then
|
||||
sensor_mag_sim start
|
||||
fi
|
||||
sensor_baro_sim start
|
||||
sensor_gps_sim start
|
||||
sensor_mag_sim start
|
||||
|
||||
else
|
||||
echo "ERROR [init] simulator_sih failed to start"
|
||||
@@ -38,7 +21,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
|
||||
|
||||
elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then
|
||||
|
||||
# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
|
||||
# source generated gz_env.sh for IGN_GAZEBO_RESOURCE_PATH
|
||||
if [ -f ./gz_env.sh ]; then
|
||||
. ./gz_env.sh
|
||||
|
||||
@@ -54,8 +37,16 @@ elif [ "$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 ${gz_command} gazebo world
|
||||
@@ -94,22 +85,9 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
|
||||
|
||||
# start gz bridge with pose arg.
|
||||
if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
|
||||
if param compare -s SENS_EN_BAROSIM 1
|
||||
then
|
||||
sensor_baro_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_GPSSIM 1
|
||||
then
|
||||
sensor_gps_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_MAGSIM 1
|
||||
then
|
||||
sensor_mag_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_ARSPDSIM 1
|
||||
then
|
||||
sensor_airspeed_sim start
|
||||
fi
|
||||
sensor_baro_sim start
|
||||
sensor_gps_sim start
|
||||
sensor_mag_sim start
|
||||
|
||||
else
|
||||
echo "ERROR [init] gz_bridge failed to start"
|
||||
@@ -120,22 +98,9 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
|
||||
# model name specificed, gz_bridge will attach to existing model
|
||||
|
||||
if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
|
||||
if param compare -s SENS_EN_BAROSIM 1
|
||||
then
|
||||
sensor_baro_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_GPSSIM 1
|
||||
then
|
||||
sensor_gps_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_MAGSIM 1
|
||||
then
|
||||
sensor_mag_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_ARSPDSIM 1
|
||||
then
|
||||
sensor_airspeed_sim start
|
||||
fi
|
||||
sensor_baro_sim start
|
||||
sensor_gps_sim start
|
||||
sensor_mag_sim start
|
||||
|
||||
else
|
||||
echo "ERROR [init] gz_bridge failed to start"
|
||||
@@ -147,22 +112,9 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
|
||||
echo "WARN [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
|
||||
|
||||
if gz_bridge start -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
|
||||
if param compare -s SENS_EN_BAROSIM 1
|
||||
then
|
||||
sensor_baro_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_GPSSIM 1
|
||||
then
|
||||
sensor_gps_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_MAGSIM 1
|
||||
then
|
||||
sensor_mag_sim start
|
||||
fi
|
||||
if param compare -s SENS_EN_ARSPDSIM 1
|
||||
then
|
||||
sensor_airspeed_sim start
|
||||
fi
|
||||
sensor_baro_sim start
|
||||
sensor_gps_sim start
|
||||
sensor_mag_sim start
|
||||
|
||||
else
|
||||
echo "ERROR [init] gz_bridge failed to start"
|
||||
|
||||
@@ -184,9 +184,6 @@ param set-default SDLOG_DIRS_MAX 7
|
||||
param set-default TRIG_INTERFACE 3
|
||||
|
||||
param set-default SYS_FAILURE_EN 1
|
||||
# Enable low-battery actions by default for (automated) testing. Battery sim
|
||||
# does not go below 50% by default, but failure injection can trigger failsafes.
|
||||
param set-default COM_LOW_BAT_ACT 2
|
||||
|
||||
# Adapt timeout parameters if simulation runs faster or slower than realtime.
|
||||
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
|
||||
|
||||
@@ -36,7 +36,6 @@ add_subdirectory(airframes)
|
||||
px4_add_romfs_files(
|
||||
rc.airship_apps
|
||||
rc.airship_defaults
|
||||
rc.autostart_ext
|
||||
rc.balloon_apps
|
||||
rc.balloon_defaults
|
||||
rc.boat_defaults
|
||||
|
||||
@@ -38,7 +38,7 @@ param set-default EKF2_GPS_P_GATE 10
|
||||
param set-default EKF2_GPS_V_GATE 10
|
||||
|
||||
param set-default FW_ARSP_MODE 1
|
||||
param set-default NPFG_PERIOD 25
|
||||
param set-default FW_L1_PERIOD 25
|
||||
param set-default FW_PR_FF 0.7
|
||||
param set-default FW_PR_I 0.18
|
||||
param set-default FW_PR_P 0.15
|
||||
@@ -122,12 +122,16 @@ param set-default VT_TRANS_MIN_TM 15
|
||||
param set-default VT_B_TRANS_DUR 8
|
||||
param set-default VT_FWD_THRUST_SC 4
|
||||
param set-default VT_F_TRANS_DUR 1
|
||||
param set-default VT_B_REV_OUT 0.5
|
||||
param set-default VT_B_TRANS_THR 0.7
|
||||
param set-default VT_TRANS_TIMEOUT 22
|
||||
param set-default VT_F_TRANS_RAMP 4
|
||||
|
||||
param set-default COM_RC_OVERRIDE 0
|
||||
|
||||
|
||||
|
||||
|
||||
param set-default CA_AIRFRAME 2
|
||||
|
||||
param set-default CA_ROTOR_COUNT 5
|
||||
|
||||
@@ -30,7 +30,7 @@ param set-default BAT1_N_CELLS 6
|
||||
param set-default FW_AIRSPD_MAX 30
|
||||
param set-default FW_AIRSPD_MIN 19
|
||||
param set-default FW_AIRSPD_TRIM 23
|
||||
param set-default FW_PN_R_SLEW_MAX 40
|
||||
param set-default FW_L1_R_SLEW_MAX 40
|
||||
param set-default FW_PSP_OFF 3
|
||||
param set-default FW_P_LIM_MAX 18
|
||||
param set-default FW_P_LIM_MIN -25
|
||||
|
||||
@@ -54,6 +54,14 @@ param set-default CBRK_AIRSPD_CHK 162128
|
||||
# Differential drive acts like ackermann steering with a maximum turn angle of 180 degrees, or pi radians
|
||||
param set-default GND_MAX_ANG 3.1415
|
||||
|
||||
param set-default RBCLW_BAUD 8
|
||||
param set-default RBCLW_COUNTS_REV 1200
|
||||
param set-default RBCLW_ADDRESS 128
|
||||
# 104 corresponds to Telem 4
|
||||
param set-default RBCLW_SER_CFG 104
|
||||
# Start this driver after setting parameters, because the driver uses some of those parameters.
|
||||
# roboclaw start /dev/ttyS3
|
||||
|
||||
# Set geometry & output configration
|
||||
param set-default CA_AIRFRAME 6
|
||||
param set-default CA_R_REV 3
|
||||
|
||||
@@ -20,7 +20,7 @@ control_allocator start
|
||||
#
|
||||
fw_rate_control start
|
||||
fw_att_control start
|
||||
fw_path_navigation start
|
||||
fw_pos_control_l1 start
|
||||
airspeed_selector start
|
||||
|
||||
#
|
||||
|
||||
@@ -14,13 +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
|
||||
|
||||
|
||||
@@ -37,7 +37,7 @@ fi
|
||||
|
||||
fw_rate_control start vtol
|
||||
fw_att_control start vtol
|
||||
fw_path_navigation start vtol
|
||||
fw_pos_control_l1 start vtol
|
||||
fw_autotune_attitude_control start vtol
|
||||
|
||||
# Start Land Detector
|
||||
|
||||
@@ -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
|
||||
|
||||
|
||||
@@ -25,7 +25,7 @@ if __name__ == "__main__":
|
||||
if not os.path.isdir(output_dir):
|
||||
os.mkdir(output_dir)
|
||||
|
||||
msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
|
||||
msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"..")
|
||||
msg_files = get_msgs_list(msg_path)
|
||||
msg_files.sort()
|
||||
|
||||
|
||||
@@ -164,8 +164,7 @@ for field_type, field_name, field_size, padding in fields:
|
||||
print('\tmemcpy(&topic.{0}, buf.iterator, sizeof(topic.{0}));'.format(field_name))
|
||||
|
||||
if field_type == 'uint64' and (field_name == 'timestamp' or field_name == 'timestamp_sample'):
|
||||
print('\tif (topic.{0} == 0) topic.{0} = hrt_absolute_time();'.format(field_name, field_name))
|
||||
print('\telse topic.{0} = math::min(topic.{0} - time_offset, hrt_absolute_time());'.format(field_name, field_name))
|
||||
print('\ttopic.{0} -= time_offset;'.format(field_name))
|
||||
|
||||
print('\tbuf.iterator += sizeof(topic.{:});'.format(field_name))
|
||||
print('\tbuf.offset += sizeof(topic.{:});'.format(field_name))
|
||||
|
||||
@@ -102,7 +102,7 @@ class ModuleDocumentation(object):
|
||||
def _handle_usage_param_int(self, args):
|
||||
assert(len(args) == 6) # option_char, default_val, min_val, max_val, description, is_optional
|
||||
option_char = self._get_option_char(args[0])
|
||||
default_val = self._get_int(args[1])
|
||||
default_val = int(args[1], 0)
|
||||
description = self._get_string(args[4])
|
||||
if self._is_bool_true(args[5]):
|
||||
self._usage_string += " [-%s <val>] %s\n" % (option_char, description)
|
||||
@@ -214,9 +214,6 @@ class ModuleDocumentation(object):
|
||||
f = f[:-1]
|
||||
return float(f)
|
||||
|
||||
def _get_int(self, argument):
|
||||
return int(eval(argument))
|
||||
|
||||
def _is_string(self, argument):
|
||||
return len(argument) > 0 and argument[0] == '"'
|
||||
|
||||
@@ -310,8 +307,6 @@ class SourceParser(object):
|
||||
r'//.*?$|/\*.*?\*/|\'(?:\\.|[^\\\'])*\'|"(?:\\.|[^\\"])*"',
|
||||
re.DOTALL | re.MULTILINE)
|
||||
|
||||
self._define_pattern = re.compile(r'#define\s+(\w+?)[^\S\r\n]+(.+?)\s*?\n')
|
||||
|
||||
def Parse(self, scope, contents):
|
||||
"""
|
||||
Incrementally parse program contents and append all found documentations
|
||||
@@ -321,9 +316,6 @@ class SourceParser(object):
|
||||
# remove comments from source
|
||||
contents = self._comment_remover(contents)
|
||||
|
||||
# replace preprocessor defines defined in file directly
|
||||
contents = self._define_replacer(contents)
|
||||
|
||||
extracted_function_calls = [] # list of tuples: (FUNC_NAME, list(ARGS))
|
||||
|
||||
start_index = 0
|
||||
@@ -387,15 +379,6 @@ class SourceParser(object):
|
||||
return s
|
||||
return re.sub(self._comment_remove_pattern, replacer, text)
|
||||
|
||||
def _define_replacer(self, text):
|
||||
""" check for C preprocesor #define in text and replace with argument"""
|
||||
text = re.sub(r"\\\s*?\n"," ",text)
|
||||
define_iter = self._define_pattern.finditer(text)
|
||||
for define_pattern in define_iter:
|
||||
text = re.sub(r"\b" +re.escape(str(define_pattern.groups()[0])) + r"\b", re.escape(str(define_pattern.groups()[1])), text)
|
||||
return text
|
||||
|
||||
|
||||
def _do_consistency_check(self, contents, scope, module_doc):
|
||||
"""
|
||||
check the documentation for consistency with the code (arguments to
|
||||
|
||||
+23
-27
@@ -84,7 +84,6 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
|
||||
gdb \
|
||||
git \
|
||||
lcov \
|
||||
libfuse2 \
|
||||
libxml2-dev \
|
||||
libxml2-utils \
|
||||
make \
|
||||
@@ -183,7 +182,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
|
||||
echo "${NUTTX_GCC_VERSION} path already set.";
|
||||
else
|
||||
echo $exportline >> $HOME/.profile;
|
||||
source $HOME/.profile; # Allows to directly build NuttX targets in the same terminal
|
||||
fi
|
||||
fi
|
||||
fi
|
||||
@@ -219,34 +217,22 @@ if [[ $INSTALL_SIM == "true" ]]; then
|
||||
# Set Java 11 as default
|
||||
sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
|
||||
|
||||
# Gazebo / Gazebo classic installation
|
||||
if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
echo "Gazebo (Garden) will be installed"
|
||||
echo "Earlier versions will be removed"
|
||||
# Add Gazebo binary repository
|
||||
sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
|
||||
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
|
||||
sudo apt-get update -y --quiet
|
||||
|
||||
# Install Gazebo
|
||||
gazebo_packages="gz-garden"
|
||||
# Install Gazebo classic
|
||||
if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||
gazebo_version=9
|
||||
gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
|
||||
elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
|
||||
gazebo_packages="gazebo libgazebo-dev"
|
||||
else
|
||||
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
|
||||
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
|
||||
# Update list, since new gazebo-stable.list has been added
|
||||
sudo apt-get update -y --quiet
|
||||
|
||||
# Install Gazebo classic
|
||||
if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
|
||||
gazebo_classic_version=9
|
||||
gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
|
||||
else
|
||||
# default and Ubuntu 20.04
|
||||
gazebo_classic_version=11
|
||||
gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
|
||||
fi
|
||||
# default and Ubuntu 20.04
|
||||
gazebo_version=11
|
||||
gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
|
||||
fi
|
||||
|
||||
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 \
|
||||
dmidecode \
|
||||
$gazebo_packages \
|
||||
@@ -269,6 +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 updated: e3722bf913...9343aaf4e2
File diff suppressed because one or more lines are too long
@@ -1,165 +0,0 @@
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File diff suppressed because one or more lines are too long
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@@ -1,114 +0,0 @@
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File diff suppressed because one or more lines are too long
@@ -1,15 +0,0 @@
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<?xml version="1.0"?>
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This is a model of an RC Cessna 182.
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@@ -1,824 +0,0 @@
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<?xml version="1.0"?>
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<ambient>.175 .175 .175 1.0</ambient>
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|
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|
||||
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<air_pressure>
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<pressure>
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|
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|
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|
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|
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|
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|
||||
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
</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>
|
||||
</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>
|
||||
</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>
|
||||
</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="gz-sim-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>
|
||||
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
@@ -1,15 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<model>
|
||||
<name>Standard VTOL</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.10'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Roman Bapst</name>
|
||||
<email>roman@px4.io</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
This is a model of a standard VTOL quad plane.
|
||||
</description>
|
||||
</model>
|
||||
@@ -1,755 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<!-- DO NOT EDIT: Generated from standard_vtol.sdf.jinja -->
|
||||
<sdf version='1.10'>
|
||||
<model name='standard_vtol'>
|
||||
<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>5</mass>
|
||||
<inertia>
|
||||
<ixx>0.477708333333</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.341666666667</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.811041666667</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='base_link_collision'>
|
||||
<pose>0 0 -0.07 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.55 2.144 0.05</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<kp>100000</kp>
|
||||
<kd>1.0</kd>
|
||||
<max_vel>0.1</max_vel>
|
||||
<min_depth>0.001</min_depth>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='base_link_visual'>
|
||||
<pose>0.53 -1.072 -0.1 1.5707963268 0 3.1415926536</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>model://standard_vtol/meshes/x8_wing.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>.175 .175 .175 1.0</ambient>
|
||||
<diffuse>.175 .175 .175 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='left_motor_column'>
|
||||
<pose>0 0.35 0.01 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.74 0.03 0.03</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>.175 .175 .175 1.0</ambient>
|
||||
<diffuse>.175 .175 .175 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='right_motor_column'>
|
||||
<pose>0 -0.35 0.01 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.74 0.03 0.03</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>.175 .175 .175 1.0</ambient>
|
||||
<diffuse>.175 .175 .175 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='m0'>
|
||||
<pose>-0.35 0.35 0.045 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.035</length>
|
||||
<radius>0.02</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>.175 .175 .175 1.0</ambient>
|
||||
<diffuse>.175 .175 .175 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='m1'>
|
||||
<pose>-0.35 -0.35 0.045 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.035</length>
|
||||
<radius>0.02</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>.175 .175 .175 1.0</ambient>
|
||||
<diffuse>.175 .175 .175 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='m2'>
|
||||
<pose>0.35 -0.35 0.045 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.035</length>
|
||||
<radius>0.02</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>.175 .175 .175 1.0</ambient>
|
||||
<diffuse>.175 .175 .175 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<visual name='m3'>
|
||||
<pose>0.35 0.35 0.045 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.035</length>
|
||||
<radius>0.02</radius>
|
||||
</cylinder>
|
||||
</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>
|
||||
<sensor name="air_pressure_sensor" type="air_pressure">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>50</update_rate>
|
||||
<air_pressure>
|
||||
<pressure>
|
||||
<noise type="gaussian">
|
||||
<mean>0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</pressure>
|
||||
</air_pressure>
|
||||
</sensor>
|
||||
</link>
|
||||
<link name='rotor_0'>
|
||||
<pose>0.35 -0.35 0.07 0 0 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_0_collision'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='rotor_0_visual'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://standard_vtol/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_0_joint' type='revolute'>
|
||||
<child>rotor_0</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='rotor_1'>
|
||||
<pose>-0.35 0.35 0.07 0 0 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_1_collision'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='rotor_1_visual'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://standard_vtol/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_1_joint' type='revolute'>
|
||||
<child>rotor_1</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='rotor_2'>
|
||||
<pose>0.35 0.35 0.07 0 0 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_2_collision'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='rotor_2_visual'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://standard_vtol/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_2_joint' type='revolute'>
|
||||
<child>rotor_2</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='rotor_3'>
|
||||
<pose>-0.35 -0.35 0.07 0 0 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_3_collision'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.1</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='rotor_3_visual'>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>model://standard_vtol/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_3_joint' type='revolute'>
|
||||
<child>rotor_3</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-1e+16</lower>
|
||||
<upper>1e+16</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='rotor_puller'>
|
||||
<pose>-0.22 0 0.0 0 1.57 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 -0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<length>0.005</length>
|
||||
<radius>0.06</radius>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode/>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name='rotor_puller_visual'>
|
||||
<pose>0 0 -0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.8 0.8 0.8</scale>
|
||||
<uri>model://standard_vtol/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'>
|
||||
<pose>0.0 0 0.0 0 -1.57 0</pose>
|
||||
<child>rotor_puller</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>1 0 0</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>
|
||||
|
||||
<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>-0.105 0.004 -0.034 1.5707963268 0 3.1415926536</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>model://standard_vtol/meshes/x8_elevon_left.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_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 -0.6 0 0.00 0 0.0</pose>
|
||||
</inertial>
|
||||
<visual name='right_elevon_visual'>
|
||||
<pose>0.281 -1.032 -0.034 1.5707963268 0 3.1415926536</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>model://standard_vtol/meshes/x8_elevon_right.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>
|
||||
</link>
|
||||
<joint name='servo_0' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>left_elevon</child>
|
||||
<pose>-0.18 0.6 -0.005 0 0 0.265</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>-0.18 -0.6 -0.005 0 0 -0.265</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>
|
||||
<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 0.3 0.05</cp>
|
||||
<area>0.50</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>-1.0</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>
|
||||
</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 -0.3 0.05</cp>
|
||||
<area>0.50</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>-1.0</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>
|
||||
</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_name>servo_2</control_joint_name>
|
||||
<control_joint_rad_to_cl>-12.0</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>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_0_joint</jointName>
|
||||
<linkName>rotor_0</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1500</maxRotVelocity>
|
||||
<motorConstant>2e-05</motorConstant>
|
||||
<momentConstant>0.06</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>0</motorNumber>
|
||||
<rotorDragCoefficient>0.000106428</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_1_joint</jointName>
|
||||
<linkName>rotor_1</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1500</maxRotVelocity>
|
||||
<motorConstant>2e-05</motorConstant>
|
||||
<momentConstant>0.06</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>1</motorNumber>
|
||||
<rotorDragCoefficient>0.000106428</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-multicopter-motor-model-system"
|
||||
name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_2_joint</jointName>
|
||||
<linkName>rotor_2</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1500</maxRotVelocity>
|
||||
<motorConstant>2e-05</motorConstant>
|
||||
<momentConstant>0.06</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>2</motorNumber>
|
||||
<rotorDragCoefficient>0.000106428</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-multicopter-motor-model-system"
|
||||
name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_3_joint</jointName>
|
||||
<linkName>rotor_3</linkName>
|
||||
<turningDirection>cw</turningDirection>
|
||||
<timeConstantUp>0.0125</timeConstantUp>
|
||||
<timeConstantDown>0.025</timeConstantDown>
|
||||
<maxRotVelocity>1500</maxRotVelocity>
|
||||
<motorConstant>2e-05</motorConstant>
|
||||
<momentConstant>0.06</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>3</motorNumber>
|
||||
<rotorDragCoefficient>0.000106428</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<plugin
|
||||
filename="gz-sim-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>3500</maxRotVelocity>
|
||||
<motorConstant>8.54858e-06</motorConstant>
|
||||
<momentConstant>0.01</momentConstant>
|
||||
<commandSubTopic>command/motor_speed</commandSubTopic>
|
||||
<motorNumber>4</motorNumber>
|
||||
<rotorDragCoefficient>0.000106428</rotorDragCoefficient>
|
||||
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
||||
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
|
||||
<motorType>velocity</motorType>
|
||||
</plugin>
|
||||
<static>0</static>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -215,18 +215,6 @@
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<sensor name="air_pressure_sensor" type="air_pressure">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>50</update_rate>
|
||||
<air_pressure>
|
||||
<pressure>
|
||||
<noise type="gaussian">
|
||||
<mean>0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</pressure>
|
||||
</air_pressure>
|
||||
</sensor>
|
||||
<sensor name="imu_sensor" type="imu">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>250</update_rate>
|
||||
@@ -302,6 +290,7 @@
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name="rotor_1">
|
||||
@@ -374,6 +363,7 @@
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name="rotor_2">
|
||||
@@ -446,6 +436,7 @@
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name="rotor_3">
|
||||
@@ -518,9 +509,10 @@
|
||||
<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-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_0_joint</jointName>
|
||||
<linkName>rotor_0</linkName>
|
||||
<turningDirection>ccw</turningDirection>
|
||||
@@ -536,7 +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>
|
||||
@@ -552,7 +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>
|
||||
@@ -568,7 +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>
|
||||
|
||||
@@ -1,11 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<model>
|
||||
<name>x500-vision</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.9">model.sdf</sdf>
|
||||
<author>
|
||||
<name>Jaeyoung Lim</name>
|
||||
<email>jalim@ethz.ch</email>
|
||||
</author>
|
||||
<description>Model of the X500 with a odometry/external vision input.</description>
|
||||
</model>
|
||||
@@ -1,13 +0,0 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<sdf version='1.9'>
|
||||
<model name='x500-vision'>
|
||||
<include merge='true'>
|
||||
<uri>x500</uri>
|
||||
</include>
|
||||
<plugin
|
||||
filename="gz-sim-odometry-publisher-system"
|
||||
name="gz::sim::systems::OdometryPublisher">
|
||||
<dimensions>3</dimensions>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -5,22 +5,21 @@
|
||||
<real_time_factor>1.0</real_time_factor>
|
||||
<real_time_update_rate>250</real_time_update_rate>
|
||||
</physics>
|
||||
<plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
|
||||
<plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
|
||||
<plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
|
||||
<plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
|
||||
<plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
|
||||
<plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
|
||||
<plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
|
||||
<plugin name='ignition::gazebo::systems::Physics' filename='ignition-gazebo-physics-system'/>
|
||||
<plugin name='ignition::gazebo::systems::UserCommands' filename='ignition-gazebo-user-commands-system'/>
|
||||
<plugin name='ignition::gazebo::systems::SceneBroadcaster' filename='ignition-gazebo-scene-broadcaster-system'/>
|
||||
<plugin name='ignition::gazebo::systems::Contact' filename='ignition-gazebo-contact-system'/>
|
||||
<plugin name='ignition::gazebo::systems::Imu' filename='ignition-gazebo-imu-system'/>
|
||||
<plugin name='ignition::gazebo::systems::Sensors' filename='ignition-gazebo-sensors-system'>
|
||||
<render_engine>ogre2</render_engine>
|
||||
</plugin>
|
||||
<gui fullscreen='false'>
|
||||
<plugin name='3D View' filename='GzScene3D'>
|
||||
<gz-gui>
|
||||
<ignition-gui>
|
||||
<title>3D View</title>
|
||||
<property type='bool' key='showTitleBar'>0</property>
|
||||
<property type='string' key='state'>docked</property>
|
||||
</gz-gui>
|
||||
</ignition-gui>
|
||||
<engine>ogre2</engine>
|
||||
<scene>scene</scene>
|
||||
<ambient_light>0.5984631152222222 0.5984631152222222 0.5984631152222222</ambient_light>
|
||||
@@ -28,7 +27,7 @@
|
||||
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
|
||||
</plugin>
|
||||
<plugin name='World control' filename='WorldControl'>
|
||||
<gz-gui>
|
||||
<ignition-gui>
|
||||
<title>World control</title>
|
||||
<property type='bool' key='showTitleBar'>0</property>
|
||||
<property type='bool' key='resizable'>0</property>
|
||||
@@ -40,13 +39,13 @@
|
||||
<line own='left' target='left'/>
|
||||
<line own='bottom' target='bottom'/>
|
||||
</anchors>
|
||||
</gz-gui>
|
||||
</ignition-gui>
|
||||
<play_pause>1</play_pause>
|
||||
<step>1</step>
|
||||
<start_paused>1</start_paused>
|
||||
</plugin>
|
||||
<plugin name='World stats' filename='WorldStats'>
|
||||
<gz-gui>
|
||||
<ignition-gui>
|
||||
<title>World stats</title>
|
||||
<property type='bool' key='showTitleBar'>0</property>
|
||||
<property type='bool' key='resizable'>0</property>
|
||||
@@ -58,7 +57,7 @@
|
||||
<line own='right' target='right'/>
|
||||
<line own='bottom' target='bottom'/>
|
||||
</anchors>
|
||||
</gz-gui>
|
||||
</ignition-gui>
|
||||
<sim_time>1</sim_time>
|
||||
<real_time>1</real_time>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
|
||||
@@ -46,7 +46,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -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
|
||||
|
||||
@@ -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 */
|
||||
|
||||
@@ -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 =
|
||||
|
||||
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
Binary file not shown.
@@ -302,7 +302,7 @@
|
||||
#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE
|
||||
|
||||
/* LED definitions ******************************************************************/
|
||||
/* The ARKV6X board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
|
||||
/* The board board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
|
||||
* LED_RED a Red LED, that can be controlled by software.
|
||||
*
|
||||
* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
|
||||
@@ -366,10 +366,10 @@
|
||||
#define GPIO_USART1_RX GPIO_USART1_RX_3 /* PB7 */
|
||||
#define GPIO_USART1_TX GPIO_USART1_TX_3 /* PB6 */
|
||||
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_1 /* PA3 */
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
|
||||
#define GPIO_USART2_RTS GPIO_USART2_RTS_2 /* PD4 */
|
||||
#define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */
|
||||
#define GPIO_USART2_RX GPIO_USART2_RX_1 /* PA3 */
|
||||
#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */
|
||||
#define GPIO_USART2_RTS (GPIO_USART2_RTS_2 | GPIO_PULLDOWN) /* PD4 */
|
||||
#define GPIO_USART2_CTS (GPIO_USART2_CTS_NSS_2 | GPIO_PULLDOWN) /* PD3 */
|
||||
|
||||
#define GPIO_USART3_RX GPIO_USART3_RX_3 /* PD9 */
|
||||
#define GPIO_USART3_TX GPIO_USART3_TX_3 /* PD8 */
|
||||
@@ -379,16 +379,16 @@
|
||||
|
||||
#define GPIO_UART5_RX GPIO_UART5_RX_3 /* PD2 */
|
||||
#define GPIO_UART5_TX GPIO_UART5_TX_3 /* PC12 */
|
||||
// GPIO_UART5_RTS No remap /* PC8 */
|
||||
// GPIO_UART5_RTS no remap /* PC8 */
|
||||
// GPIO_UART5_CTS No remap /* PC9 */
|
||||
|
||||
#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */
|
||||
#define GPIO_USART6_TX GPIO_USART6_TX_1 /* PC6 */
|
||||
|
||||
#define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */
|
||||
#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
|
||||
#define GPIO_UART7_RTS (GPIO_UART7_RTS_2 | GPIO_PULLDOWN) /* PF8 */
|
||||
#define GPIO_UART7_CTS (GPIO_UART7_CTS_1 | GPIO_PULLDOWN) /* PE10 */
|
||||
#define GPIO_UART7_RX GPIO_UART7_RX_4 /* PF6 */
|
||||
#define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */
|
||||
#define GPIO_UART7_RTS (GPIO_UART7_RTS_2 | GPIO_PULLDOWN) /* PF8 */
|
||||
#define GPIO_UART7_CTS (GPIO_UART7_CTS_1 | GPIO_PULLDOWN) /* PE10 */
|
||||
|
||||
#define GPIO_UART8_RX GPIO_UART8_RX_1 /* PE0 */
|
||||
#define GPIO_UART8_TX GPIO_UART8_TX_1 /* PE1 */
|
||||
@@ -447,27 +447,15 @@
|
||||
#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */
|
||||
#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */
|
||||
|
||||
#define GPIO_I2C1_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
|
||||
#define GPIO_I2C1_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
|
||||
|
||||
#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2 /* PF1 */
|
||||
#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2 /* PF0 */
|
||||
|
||||
#define GPIO_I2C2_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN1)
|
||||
#define GPIO_I2C2_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN0)
|
||||
|
||||
#define GPIO_I2C3_SCL GPIO_I2C3_SCL_1 /* PA8 */
|
||||
#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */
|
||||
|
||||
#define GPIO_I2C3_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN8)
|
||||
#define GPIO_I2C3_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8)
|
||||
|
||||
#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */
|
||||
#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */
|
||||
|
||||
#define GPIO_I2C4_SCL_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14)
|
||||
#define GPIO_I2C4_SDA_GPIO (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15)
|
||||
|
||||
/* SDMMC2
|
||||
*
|
||||
* VDD 3.3
|
||||
|
||||
@@ -34,7 +34,7 @@
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The ARKV6X uses an STM32H753II has 2048Kb of main FLASH memory.
|
||||
/* The board uses an STM32H753II has 2048Kb of main FLASH memory.
|
||||
* The flash memory is partitioned into a User Flash memory and a System
|
||||
* Flash memory. Each of these memories has two banks:
|
||||
*
|
||||
@@ -59,7 +59,7 @@
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x1FF0:0000
|
||||
*
|
||||
* The ARKV6X has a test point on board, the BOOT0 pin is at ground so by
|
||||
* The board has a test point on board, the BOOT0 pin is at ground so by
|
||||
* default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
|
||||
* point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
|
||||
@@ -34,7 +34,7 @@
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/* The ARKV6X uses an STM32H753II has 2048Kb of main FLASH memory.
|
||||
/* The board uses an STM32H753II has 2048Kb of main FLASH memory.
|
||||
* The flash memory is partitioned into a User Flash memory and a System
|
||||
* Flash memory. Each of these memories has two banks:
|
||||
*
|
||||
@@ -59,7 +59,7 @@
|
||||
* 2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
|
||||
* ST programmed value: System bootloader at 0x1FF0:0000
|
||||
*
|
||||
* The ARKV6X has a test point on board, the BOOT0 pin is at ground so by
|
||||
* The board has a test point on board, the BOOT0 pin is at ground so by
|
||||
* default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
|
||||
* point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
|
||||
*
|
||||
|
||||
@@ -40,6 +40,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
|
||||
)
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
arch_board_init
|
||||
nuttx_arch # sdio
|
||||
nuttx_drivers # sdio
|
||||
px4_layer #gpio
|
||||
@@ -67,6 +68,7 @@ else()
|
||||
|
||||
target_link_libraries(drivers_board
|
||||
PRIVATE
|
||||
arch_board_init
|
||||
arch_io_pins
|
||||
arch_spi
|
||||
arch_board_hw_info
|
||||
|
||||
@@ -34,7 +34,7 @@
|
||||
/**
|
||||
* @file board_config.h
|
||||
*
|
||||
* ARKFMU-v6x internal definitions
|
||||
* board internal definitions
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
@@ -253,15 +253,6 @@
|
||||
#define DIRECT_PWM_OUTPUT_CHANNELS 8
|
||||
#define BOARD_PWM_FREQ 1024000
|
||||
|
||||
#define GPIO_FMU_CH1 /* PI0 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
|
||||
#define GPIO_FMU_CH2 /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
|
||||
#define GPIO_FMU_CH3 /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
|
||||
#define GPIO_FMU_CH4 /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
|
||||
#define GPIO_FMU_CH5 /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
|
||||
#define GPIO_FMU_CH6 /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
|
||||
#define GPIO_FMU_CH7 /* PH6 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
|
||||
#define GPIO_FMU_CH8 /* PH9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
|
||||
|
||||
#define GPIO_FMU_CAP /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
|
||||
#define GPIO_SPIX_SYNC /* PE9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
|
||||
|
||||
@@ -367,7 +358,7 @@
|
||||
#define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
|
||||
|
||||
/*
|
||||
* ARKV6X has a separate RC_IN
|
||||
* board has a separate RC_IN
|
||||
*
|
||||
* GPIO PPM_IN on PI5 T8CH1
|
||||
* SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
|
||||
@@ -401,7 +392,7 @@
|
||||
#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
|
||||
#define BOARD_ADC_USB_VALID (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
|
||||
|
||||
/* ARKV6X never powers off the Servo rail */
|
||||
/* board never powers off the Servo rail */
|
||||
|
||||
#define BOARD_ADC_SERVO_VALID (1)
|
||||
|
||||
@@ -453,14 +444,11 @@
|
||||
GPIO_TRACE, \
|
||||
PX4_ADC_GPIO, \
|
||||
GPIO_HW_VER_REV_DRIVE, \
|
||||
GPIO_CAN1_TX, \
|
||||
GPIO_CAN1_RX, \
|
||||
GPIO_CAN2_TX, \
|
||||
GPIO_CAN2_RX, \
|
||||
GPIO_HEATER_OUTPUT, \
|
||||
GPIO_nPOWER_IN_A, \
|
||||
GPIO_nPOWER_IN_B, \
|
||||
GPIO_nPOWER_IN_C, \
|
||||
GPIO_OTGFS_VBUS, \
|
||||
GPIO_VDD_5V_PERIPH_nEN, \
|
||||
GPIO_VDD_5V_PERIPH_nOC, \
|
||||
GPIO_VDD_5V_HIPOWER_nEN, \
|
||||
@@ -477,15 +465,7 @@
|
||||
GPIO_SAFETY_SWITCH_IN, \
|
||||
GPIO_PG6, \
|
||||
GPIO_nARMED_INIT, \
|
||||
GPIO_FMU_CH1, \
|
||||
GPIO_FMU_CH2, \
|
||||
GPIO_FMU_CH3, \
|
||||
GPIO_FMU_CH4, \
|
||||
GPIO_FMU_CH5, \
|
||||
GPIO_FMU_CH6, \
|
||||
GPIO_FMU_CH7, \
|
||||
GPIO_FMU_CH8, \
|
||||
GPIO_FMU_CAP, \
|
||||
GPIO_FMU_CAP, \
|
||||
GPIO_SPIX_SYNC \
|
||||
}
|
||||
|
||||
@@ -533,8 +513,6 @@ int stm32_sdio_initialize(void);
|
||||
|
||||
extern void stm32_spiinitialize(void);
|
||||
|
||||
extern void stm32_usbinitialize(void);
|
||||
|
||||
extern void board_peripheral_reset(int ms);
|
||||
|
||||
#include <px4_platform_common/board_common.h>
|
||||
|
||||
@@ -46,33 +46,10 @@
|
||||
#include <stm32_uart.h>
|
||||
#include <arch/board/board.h>
|
||||
#include "arm_internal.h"
|
||||
#include <px4_platform/gpio.h>
|
||||
#include <px4_platform_common/init.h>
|
||||
|
||||
extern int sercon_main(int c, char **argv);
|
||||
|
||||
__EXPORT void board_on_reset(int status) {}
|
||||
|
||||
__EXPORT void stm32_boardinitialize(void)
|
||||
{
|
||||
/* configure pins */
|
||||
const uint32_t list[] = PX4_GPIO_INIT_LIST;
|
||||
|
||||
for (size_t gpio = 0; gpio < arraySize(list); gpio++) {
|
||||
if (list[gpio] != 0) {
|
||||
px4_arch_configgpio(list[gpio]);
|
||||
}
|
||||
}
|
||||
|
||||
/* configure USB interfaces */
|
||||
stm32_usbinitialize();
|
||||
}
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
void board_late_initialize(void)
|
||||
{
|
||||
sercon_main(0, NULL);
|
||||
|
||||
@@ -34,7 +34,7 @@
|
||||
/**
|
||||
* @file init.c
|
||||
*
|
||||
* ARKFMU-specific early startup code. This file implements the
|
||||
* board-specific early startup code. This file implements the
|
||||
* board_app_initialize() function that is called early by nsh during startup.
|
||||
*
|
||||
* Code here is run before the rcS script is invoked; it should start required
|
||||
@@ -69,6 +69,7 @@
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <drivers/drv_board_led.h>
|
||||
#include <systemlib/px4_macros.h>
|
||||
#include <px4_arch/board_init.h>
|
||||
#include <px4_arch/io_timer.h>
|
||||
#include <px4_platform_common/init.h>
|
||||
#include <px4_platform_common/px4_manifest.h>
|
||||
@@ -165,23 +166,12 @@ __EXPORT void board_on_reset(int status)
|
||||
__EXPORT void
|
||||
stm32_boardinitialize(void)
|
||||
{
|
||||
board_on_reset(-1); /* Reset PWM first thing */
|
||||
px4_arch_pin_initialize();
|
||||
|
||||
/* configure LEDs */
|
||||
|
||||
board_autoled_initialize();
|
||||
|
||||
/* configure pins */
|
||||
|
||||
const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
|
||||
px4_gpio_init(gpio, arraySize(gpio));
|
||||
|
||||
/* configure USB interfaces */
|
||||
|
||||
stm32_usbinitialize();
|
||||
|
||||
VDD_3V3_ETH_POWER_EN(true);
|
||||
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
@@ -211,7 +201,10 @@ stm32_boardinitialize(void)
|
||||
|
||||
__EXPORT int board_app_initialize(uintptr_t arg)
|
||||
{
|
||||
#if !defined(BOOTLOADER)
|
||||
|
||||
/* Power on Interfaces */
|
||||
VDD_3V3_SD_CARD_EN(true);
|
||||
VDD_5V_PERIPH_EN(true);
|
||||
VDD_5V_HIPOWER_EN(true);
|
||||
VDD_3V3_SENSORS4_EN(true);
|
||||
@@ -249,11 +242,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
|
||||
}
|
||||
|
||||
#if defined(SERIAL_HAVE_RXDMA)
|
||||
# if defined(SERIAL_HAVE_RXDMA)
|
||||
// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
|
||||
static struct hrt_call serial_dma_call;
|
||||
hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
|
||||
#endif
|
||||
# endif
|
||||
|
||||
/* initial LED state */
|
||||
drv_led_start();
|
||||
@@ -270,7 +263,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
VDD_3V3_SD_CARD_EN(true);
|
||||
usleep(500 * 1000);
|
||||
|
||||
#ifdef CONFIG_MMCSD
|
||||
# ifdef CONFIG_MMCSD
|
||||
int ret = stm32_sdio_initialize();
|
||||
|
||||
if (ret != OK) {
|
||||
@@ -278,11 +271,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
|
||||
return ret;
|
||||
}
|
||||
|
||||
#endif /* CONFIG_MMCSD */
|
||||
# endif /* CONFIG_MMCSD */
|
||||
|
||||
/* Configure the SPIX_SYNC output */
|
||||
spix_sync_servo_init(BOARD_SPIX_SYNC_FREQ);
|
||||
spix_sync_servo_set(0, 150);
|
||||
|
||||
#endif /* !defined(BOOTLOADER) */
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
@@ -34,7 +34,7 @@
|
||||
/**
|
||||
* @file led.c
|
||||
*
|
||||
* ARKFMU LED backend.
|
||||
* board LED backend.
|
||||
*/
|
||||
|
||||
#include <px4_platform_common/px4_config.h>
|
||||
|
||||
@@ -51,43 +51,12 @@
|
||||
#include <nuttx/usb/usbdev.h>
|
||||
#include <nuttx/usb/usbdev_trace.h>
|
||||
|
||||
#include "arm_internal.h"
|
||||
#include <arm_internal.h>
|
||||
#include <chip.h>
|
||||
#include <stm32_gpio.h>
|
||||
#include <stm32_otg.h>
|
||||
#include "board_config.h"
|
||||
|
||||
/************************************************************************************
|
||||
* Definitions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Private Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Public Functions
|
||||
************************************************************************************/
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbinitialize
|
||||
*
|
||||
* Description:
|
||||
* Called to setup USB-related GPIO pins for the ARKFMU board.
|
||||
*
|
||||
************************************************************************************/
|
||||
|
||||
__EXPORT void stm32_usbinitialize(void)
|
||||
{
|
||||
/* The OTG FS has an internal soft pull-up */
|
||||
|
||||
/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
|
||||
|
||||
#ifdef CONFIG_STM32H7_OTGFS
|
||||
stm32_configgpio(GPIO_OTGFS_VBUS);
|
||||
#endif
|
||||
}
|
||||
|
||||
/************************************************************************************
|
||||
* Name: stm32_usbsuspend
|
||||
*
|
||||
|
||||
@@ -43,7 +43,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -31,7 +31,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -50,7 +50,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -51,7 +51,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
|
||||
@@ -45,7 +45,7 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
@@ -65,13 +65,16 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
@@ -82,6 +85,8 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_REFLECT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
|
||||
@@ -3,9 +3,9 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=n
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
|
||||
CONFIG_BOARD_TESTING=y
|
||||
CONFIG_DRIVERS_TEST_PPM=y
|
||||
CONFIG_SYSTEMCMDS_MICROBENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SD_STRESS=y
|
||||
|
||||
@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
|
||||
CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
|
||||
CONFIG_DRIVERS_IRLOCK=y
|
||||
CONFIG_COMMON_LIGHT=y
|
||||
CONFIG_COMMON_MAGNETOMETER=y
|
||||
@@ -46,10 +45,11 @@ CONFIG_MODULES_EVENTS=y
|
||||
CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
|
||||
CONFIG_MODULES_FW_ATT_CONTROL=y
|
||||
CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
|
||||
CONFIG_MODULES_FW_PATH_NAVIGATION=y
|
||||
CONFIG_MODULES_FW_POS_CONTROL_L1=y
|
||||
CONFIG_MODULES_FW_RATE_CONTROL=y
|
||||
CONFIG_MODULES_GIMBAL=y
|
||||
CONFIG_MODULES_GYRO_CALIBRATION=y
|
||||
CONFIG_MODULES_GYRO_FFT=y
|
||||
CONFIG_MODULES_LAND_DETECTOR=y
|
||||
CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
|
||||
CONFIG_MODULES_LOAD_MON=y
|
||||
@@ -65,13 +65,16 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
|
||||
CONFIG_MODULES_MICRODDS_CLIENT=y
|
||||
CONFIG_MODULES_NAVIGATOR=y
|
||||
CONFIG_MODULES_RC_UPDATE=y
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=y
|
||||
CONFIG_MODULES_SENSORS=y
|
||||
CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
|
||||
CONFIG_MODULES_VTOL_ATT_CONTROL=y
|
||||
CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
|
||||
CONFIG_SYSTEMCMDS_BL_UPDATE=y
|
||||
CONFIG_SYSTEMCMDS_BSONDUMP=y
|
||||
CONFIG_SYSTEMCMDS_DMESG=y
|
||||
CONFIG_SYSTEMCMDS_DUMPFILE=y
|
||||
CONFIG_SYSTEMCMDS_GPIO=y
|
||||
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
|
||||
CONFIG_SYSTEMCMDS_I2CDETECT=y
|
||||
@@ -82,6 +85,8 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
|
||||
CONFIG_SYSTEMCMDS_PARAM=y
|
||||
CONFIG_SYSTEMCMDS_PERF=y
|
||||
CONFIG_SYSTEMCMDS_REBOOT=y
|
||||
CONFIG_SYSTEMCMDS_REFLECT=y
|
||||
CONFIG_SYSTEMCMDS_SD_BENCH=y
|
||||
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
|
||||
CONFIG_SYSTEMCMDS_TOP=y
|
||||
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
|
||||
|
||||
@@ -4,27 +4,12 @@
|
||||
#------------------------------------------------------------------------------
|
||||
board_adc start
|
||||
|
||||
# Variants
|
||||
# 1. Isolated {ICM42688p, ICM20948(with mag)}, body-fixed {ICM20649}
|
||||
# 2. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM20649, ICM45686, AK09918}
|
||||
# 3. Isolated {ICM42688p, ICM42688p}, body-fixed {ICM45686, AK09918}
|
||||
|
||||
# SPI4 is isolated, SPI1 is body-fixed
|
||||
|
||||
# SPI4, isolated
|
||||
# SPI4
|
||||
ms5611 -s -b 4 start
|
||||
icm42688p -s -b 4 -R 10 start
|
||||
icm20948 -s -b 4 -R 10 -M start
|
||||
|
||||
icm42688p -s -b 4 -R 10 start -c 15
|
||||
if ! icm20948 -s -b 4 -R 10 -M -q start
|
||||
then
|
||||
icm42688p -s -b 4 -R 6 start -c 13
|
||||
fi
|
||||
|
||||
# SPI1, body-fixed
|
||||
if ! icm45686 -s -b 1 -R 3 -q start
|
||||
then
|
||||
icm20649 -s -b 1 start
|
||||
fi
|
||||
|
||||
# SPI1
|
||||
ms5611 -s -b 1 start
|
||||
icm20649 -s -b 1 start
|
||||
|
||||
|
||||
@@ -7,49 +7,21 @@
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_DISABLE_PTHREAD is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
# CONFIG_MMCSD_SPI is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_CAT is not set
|
||||
# CONFIG_NSH_DISABLE_CD is not set
|
||||
# CONFIG_NSH_DISABLE_CMP is not set
|
||||
# CONFIG_NSH_DISABLE_CP is not set
|
||||
# CONFIG_NSH_DISABLE_DATE is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_ECHO is not set
|
||||
# CONFIG_NSH_DISABLE_ENV is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||
# CONFIG_NSH_DISABLE_EXPORT is not set
|
||||
# CONFIG_NSH_DISABLE_FREE is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_HELP is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_KILL is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_LS is not set
|
||||
# CONFIG_NSH_DISABLE_MKDIR is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_MOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_MV is not set
|
||||
# CONFIG_NSH_DISABLE_PS is not set
|
||||
# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
|
||||
# CONFIG_NSH_DISABLE_PWD is not set
|
||||
# CONFIG_NSH_DISABLE_RM is not set
|
||||
# CONFIG_NSH_DISABLE_RMDIR is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_SET is not set
|
||||
# CONFIG_NSH_DISABLE_SLEEP is not set
|
||||
# CONFIG_NSH_DISABLE_SOURCE is not set
|
||||
# CONFIG_NSH_DISABLE_TEST is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
# CONFIG_NSH_DISABLE_UMOUNT is not set
|
||||
# CONFIG_NSH_DISABLE_UNSET is not set
|
||||
# CONFIG_NSH_DISABLE_USLEEP is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorangeplus/nuttx-config"
|
||||
@@ -58,7 +30,7 @@ CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H747XI=y
|
||||
CONFIG_ARCH_CHIP_STM32H7=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=768
|
||||
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_DCACHE=y
|
||||
@@ -68,11 +40,11 @@ CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_ASSERT_RESET_VALUE=0
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=79954
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x1058
|
||||
@@ -84,11 +56,11 @@ CONFIG_CDCACM_VENDORSTR="CubePilot"
|
||||
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
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_EXAMPLES_CALIB_UDELAY=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
@@ -112,10 +84,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_INIT_ENTRYPOINT="nsh_main"
|
||||
CONFIG_INIT_STACKSIZE=2944
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_MAX_EXITFUNS=1
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
@@ -134,6 +103,9 @@ CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_DISABLE_IFCONFIG=y
|
||||
CONFIG_NSH_DISABLE_IFUPDOWN=y
|
||||
CONFIG_NSH_DISABLE_TELNETD=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
@@ -155,16 +127,17 @@ CONFIG_RAW_BINARY=y
|
||||
CONFIG_READLINE_CMD_HISTORY=y
|
||||
CONFIG_READLINE_TABCOMPLETION=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SDMMC1_SDIO_PULLUP=y
|
||||
CONFIG_SEM_PREALLOCHOLDERS=32
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
@@ -257,4 +230,6 @@ CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=2944
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
CONFIG_WATCHDOG=y
|
||||
|
||||
@@ -44,16 +44,6 @@
|
||||
#include <stdint.h>
|
||||
#include <stm32_gpio.h>
|
||||
|
||||
/**
|
||||
* If NuttX is built without support for SMPS it can brick the hardware.
|
||||
* Therefore, we make sure the NuttX headers are correct.
|
||||
*/
|
||||
#include "hardware/stm32h7x3xx_pwr.h"
|
||||
#if STM32_PWR_CR3_SMPSEXTHP != (1 << 3)
|
||||
# error "No SMPS support in NuttX submodule");
|
||||
#endif
|
||||
|
||||
|
||||
/* PX4IO connection configuration */
|
||||
#define BOARD_USES_PX4IO_VERSION 2
|
||||
#define PX4IO_SERIAL_DEVICE "/dev/ttyS3"
|
||||
|
||||
@@ -38,7 +38,6 @@
|
||||
constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI1, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20649, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}), // MPU_CS, MPU_DRDY
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortG, GPIO::Pin1}), // ICM45686_CS
|
||||
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortD, GPIO::Pin7}), // BARO_CS
|
||||
}),
|
||||
|
||||
@@ -49,7 +48,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
|
||||
initSPIBus(SPI::Bus::SPI4, {
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin4}), // MPU_EXT_CS
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS
|
||||
initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
|
||||
initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortC, GPIO::Pin14}), // BARO_EXT_CS
|
||||
}),
|
||||
};
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user