mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Compare commits
8 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Alejandro Hernández Cordero
|
ec15530e4f | ||
|
Alejandro Hernández Cordero
|
f74d67920b | ||
|
Alejandro Hernández Cordero
|
f5389654c2 | ||
|
Benjamin Perseghetti
|
65ada8fc11 | ||
|
Benjamin Perseghetti
|
a1090bbf9d | ||
|
Benjamin Perseghetti
|
c341f47d2a | ||
|
Benjamin Perseghetti
|
29e1e0df91 | ||
|
Alejandro Hernández Cordero
|
90d904bfd4 |
@@ -79,3 +79,4 @@ 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
|
||||
param set-default FD_ESCS_EN 0
|
||||
|
||||
@@ -0,0 +1,110 @@
|
||||
#!/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}
|
||||
|
||||
# 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 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 PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_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
|
||||
@@ -0,0 +1,110 @@
|
||||
#!/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:=foxtech_loong_2160}
|
||||
|
||||
# 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 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 0
|
||||
param set-default SIM_GZ_EC_MAX1 1500
|
||||
param set-default SIM_GZ_EC_FUNC2 102
|
||||
param set-default SIM_GZ_EC_MIN2 0
|
||||
param set-default SIM_GZ_EC_MAX2 1500
|
||||
param set-default SIM_GZ_EC_FUNC3 103
|
||||
param set-default SIM_GZ_EC_MIN3 0
|
||||
param set-default SIM_GZ_EC_MAX3 1500
|
||||
param set-default SIM_GZ_EC_FUNC4 104
|
||||
param set-default SIM_GZ_EC_MIN4 0
|
||||
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 PWM_MAIN_FUNC1 101
|
||||
param set-default PWM_MAIN_FUNC2 102
|
||||
param set-default PWM_MAIN_FUNC3 103
|
||||
param set-default PWM_MAIN_FUNC4 104
|
||||
param set-default PWM_MAIN_FUNC5 105
|
||||
param set-default PWM_MAIN_FUNC6 201
|
||||
param set-default PWM_MAIN_FUNC7 202
|
||||
param set-default PWM_MAIN_FUNC8 203
|
||||
|
||||
param set-default FW_L1_PERIOD 12
|
||||
param set-default FW_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
|
||||
@@ -73,6 +73,8 @@ px4_add_romfs_files(
|
||||
4001_gz_x500
|
||||
4002_gz_x500_depth
|
||||
4003_gz_rc_cessna
|
||||
4004_gz_standard_vtol
|
||||
4005_gz_foxtech_loong_2160
|
||||
|
||||
6011_gazebo-classic_typhoon_h480
|
||||
6011_gazebo-classic_typhoon_h480.post
|
||||
|
||||
@@ -49,7 +49,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
|
||||
|
||||
echo "INFO [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
|
||||
|
||||
${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
|
||||
${gz_command} ${gz_sub_command} --verbose=4 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
|
||||
|
||||
if [ -z "${HEADLESS}" ]; then
|
||||
# HEADLESS not set, starting gui
|
||||
|
||||
File diff suppressed because one or more lines are too long
@@ -0,0 +1,262 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
|
||||
<asset>
|
||||
<contributor>
|
||||
<author/>
|
||||
<authoring_tool>FBX COLLADA exporter</authoring_tool>
|
||||
<comments/>
|
||||
</contributor>
|
||||
<created>2023-01-04T01:05:20Z</created>
|
||||
<keywords/>
|
||||
<modified>2023-01-04T01:05:20Z</modified>
|
||||
<revision/>
|
||||
<subject/>
|
||||
<title/>
|
||||
<unit meter="0.010000" name="centimeter"/>
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_materials>
|
||||
<material id="FBXASC0481FBXASC032-FBXASC032Default" name="FBXASC0481FBXASC032-FBXASC032Default">
|
||||
<instance_effect url="#FBXASC0481FBXASC032-FBXASC032Default-fx"/>
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_effects>
|
||||
<effect id="FBXASC0481FBXASC032-FBXASC032Default-fx" name="FBXASC0481FBXASC032-FBXASC032Default">
|
||||
<profile_COMMON>
|
||||
<technique sid="standard">
|
||||
<phong>
|
||||
<emission>
|
||||
<color sid="emission">0.000000 0.000000 0.000000 1.000000</color>
|
||||
</emission>
|
||||
<ambient>
|
||||
<color sid="ambient">0.588235 0.588235 0.588235 1.000000</color>
|
||||
</ambient>
|
||||
<diffuse>
|
||||
<color sid="diffuse">0.588235 0.588235 0.588235 1.000000</color>
|
||||
</diffuse>
|
||||
<specular>
|
||||
<color sid="specular">0.486000 0.486000 0.486000 1.000000</color>
|
||||
</specular>
|
||||
<shininess>
|
||||
<float sid="shininess">2.000000</float>
|
||||
</shininess>
|
||||
<reflective>
|
||||
<color sid="reflective">0.000000 0.000000 0.000000 1.000000</color>
|
||||
</reflective>
|
||||
<reflectivity>
|
||||
<float sid="reflectivity">1.000000</float>
|
||||
</reflectivity>
|
||||
<transparent opaque="RGB_ZERO">
|
||||
<color sid="transparent">1.000000 1.000000 1.000000 1.000000</color>
|
||||
</transparent>
|
||||
<transparency>
|
||||
<float sid="transparency">0.000000</float>
|
||||
</transparency>
|
||||
</phong>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<library_geometries>
|
||||
<geometry id="aileron_left-lib" name="aileron_leftMesh">
|
||||
<mesh>
|
||||
<source id="aileron_left-POSITION">
|
||||
<float_array id="aileron_left-POSITION-array" count="48">
|
||||
-8.508881 -8.085777 -0.718638
|
||||
-8.508881 -8.085783 -0.353647
|
||||
4.939667 -6.844479 -0.718638
|
||||
4.939667 -6.844481 -0.353647
|
||||
-17.070042 -8.085783 -0.353647
|
||||
-17.070042 -8.085777 -0.718638
|
||||
17.070045 -4.887245 -0.718638
|
||||
17.070038 -4.887245 -0.353647
|
||||
-8.508881 0.511266 -0.718638
|
||||
-8.508881 0.511267 0.718638
|
||||
4.939667 0.511266 -0.718638
|
||||
4.939667 0.511266 0.642922
|
||||
-17.070042 0.511266 -0.718638
|
||||
-17.070042 0.511266 0.718212
|
||||
17.070045 0.511266 -0.718638
|
||||
17.070030 0.511267 0.494327
|
||||
</float_array>
|
||||
<technique_common>
|
||||
<accessor source="#aileron_left-POSITION-array" count="16" stride="3">
|
||||
<param name="X" type="float"/>
|
||||
<param name="Y" type="float"/>
|
||||
<param name="Z" type="float"/>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="aileron_left-Normal0">
|
||||
<float_array id="aileron_left-Normal0-array" count="252">
|
||||
0.004350 -0.126175 0.991998
|
||||
0.012806 -0.135273 0.990726
|
||||
0.013164 -0.135857 0.990641
|
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0.012806 -0.135273 0.990726
|
||||
0.004350 -0.126175 0.991998
|
||||
0.004220 -0.126103 0.992008
|
||||
0.046003 -0.998941 -0.000013
|
||||
0.125672 -0.992072 -0.000006
|
||||
0.125672 -0.992072 -0.000006
|
||||
0.125672 -0.992072 -0.000006
|
||||
0.046003 -0.998941 -0.000013
|
||||
0.046003 -0.998941 -0.000013
|
||||
0.013164 -0.135857 0.990641
|
||||
0.017606 -0.143110 0.989550
|
||||
0.017606 -0.143110 0.989550
|
||||
0.017606 -0.143110 0.989550
|
||||
0.013164 -0.135857 0.990641
|
||||
0.012806 -0.135273 0.990726
|
||||
0.159290 -0.987232 -0.000001
|
||||
0.125672 -0.992072 -0.000006
|
||||
0.159290 -0.987232 -0.000001
|
||||
0.125672 -0.992072 -0.000006
|
||||
0.159290 -0.987232 -0.000001
|
||||
0.125672 -0.992072 -0.000006
|
||||
-0.000025 -0.123744 0.992314
|
||||
0.004220 -0.126103 0.992008
|
||||
0.004350 -0.126175 0.991998
|
||||
0.004220 -0.126103 0.992008
|
||||
-0.000025 -0.123744 0.992314
|
||||
-0.000025 -0.123744 0.992314
|
||||
0.000000 -1.000000 -0.000016
|
||||
0.046003 -0.998941 -0.000013
|
||||
0.046003 -0.998941 -0.000013
|
||||
0.046003 -0.998941 -0.000013
|
||||
0.000000 -1.000000 -0.000016
|
||||
0.000000 -1.000000 -0.000016
|
||||
0.000000 0.000000 -1.000000
|
||||
0.000000 0.000000 -1.000000
|
||||
0.000000 0.000000 -1.000000
|
||||
0.000000 0.000000 -1.000000
|
||||
0.000000 0.000000 -1.000000
|
||||
0.000000 0.000000 -1.000000
|
||||
0.000000 0.000000 -1.000000
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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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<scene>
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<instance_visual_scene url="#Object004"/>
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</scene>
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</COLLADA>
|
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@@ -0,0 +1,15 @@
|
||||
<?xml version="1.0"?>
|
||||
<model>
|
||||
<name>foxtech_loong_2160</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.10'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Alejandro Hernandez Cordero</name>
|
||||
<email>alejandro@OpenRobotics.org</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
This is a model of a VTOL.
|
||||
</description>
|
||||
</model>
|
||||
@@ -0,0 +1,763 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.10">
|
||||
<model name="foxtech_loong_2160">
|
||||
<pose>0 0 0.5 0 0 0</pose>
|
||||
<link name="base_link">
|
||||
<visual name="visual_base_link">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/VTOL.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
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</visual>
|
||||
<collision name="collision_base_link">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/VTOL.dae</uri>
|
||||
</mesh>
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</geometry>
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</collision>
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<inertial>
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<pose>-0.13220955077769075 -4.9142356489896525e-08 0.04102678265168308 1.5707963267948966 -1.5231416433972742 0</pose>
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<mass>3.584838964525901</mass>
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<inertia>
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<ixx>0.67738485351961117</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.40350427325261343</iyy>
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<iyz>0</iyz>
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<izz>0.28925142846350795</izz>
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</inertia>
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</inertial>
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||||
<sensor name="imu_sensor" type="imu">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>250</update_rate>
|
||||
</sensor>
|
||||
</link>
|
||||
<link name="legs_link">
|
||||
<pose>0 0 0 0 0 -1.57</pose>
|
||||
<visual name="visual_legs_link">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/legs.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 1 1 1.0</ambient>
|
||||
<diffuse>1 1 1 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
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||||
<inertial>
|
||||
<pose>3.7153930608820144e-06 -0.17032952180315669 -0.067888027893133446 0.010363008330798451 -1.494594844601834 1.5602561510969915</pose>
|
||||
<mass>0.6675493726413797</mass>
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<inertia>
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||||
<ixx>0.032153703643267112</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.031670484418576728</iyy>
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<iyz>0</iyz>
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||||
<izz>0.00069030434527976208</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision_legs_link">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/legs.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='legs_joint' type='fixed'>
|
||||
<child>legs_link</child>
|
||||
<parent>base_link</parent>
|
||||
</joint>
|
||||
<link name="airspeed_link">
|
||||
<inertial>
|
||||
<mass>0.015</mass>
|
||||
<inertia>
|
||||
<ixx>1e-05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>1e-05</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.01</radius>
|
||||
<length>0.1</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 0 1.0</ambient>
|
||||
<diffuse>0 0 0 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<sensor name="air_speed" type="air_speed">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>30</update_rate>
|
||||
<air_speed>
|
||||
<pressure>
|
||||
<noise type="gaussian">
|
||||
<mean>0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</pressure>
|
||||
</air_speed>
|
||||
</sensor>
|
||||
</link>
|
||||
<joint name='airspeed_joint' type='fixed'>
|
||||
<child>airspeed_link</child>
|
||||
<parent>base_link</parent>
|
||||
</joint>
|
||||
<link name="aileron_left_link">
|
||||
<pose>-0.122 0.713 0.062 0 0 -1.57</pose>
|
||||
<visual name="visual_aileron_left_link">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/aileron_left.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="collision_aileron_left_link">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/aileron_left.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<pose>0.016428520956860652 -0.026006344294799606 -0.0023574007803185606 -1.5395303459623877 -1.5044452951949348 -1.6400967799666224</pose>
|
||||
<mass>0.48889497715279695</mass>
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||||
<inertia>
|
||||
<ixx>0.0046714785213929121</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0044549919806967505</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.00022471747503113157</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="servo_0" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>aileron_left_link</child>
|
||||
<axis>
|
||||
<xyz>-1 0 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name="aileron_right_link">
|
||||
<pose>-0.122 -0.713 0.062 0 0 -1.57</pose>
|
||||
<visual name="visual_aileron_right_link">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/aileron_right.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="collision_aileron_right_link">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/aileron_right.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<pose>-0.016428520373255796 -0.026006344259039589 -0.0023573984798765397 -1.6020624043352432 -1.5044453783967096 -1.5014957739781367</pose>
|
||||
<mass>0.48889496879062661</mass>
|
||||
<inertia>
|
||||
<ixx>0.0046714784977765411</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0044549919610427299</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.00022471747055809963</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="servo_1" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>aileron_right_link</child>
|
||||
<axis>
|
||||
<xyz>-1 0 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name="elevator_link">
|
||||
<visual name="visual_elevator_right_link">
|
||||
<pose>-0.883 -0.145 0.058 0 0 -1.57</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/elevator_right.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="collision_elevator_right_link">
|
||||
<pose>-0.883 -0.145 0.058 0 0 -1.57</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/elevator_right.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual_elevator_left_link">
|
||||
<pose>-0.883 0.145 0.058 0 0 -1.57</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/elevator_left.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="collision_elevator_left_link">
|
||||
<pose>-0.883 0.145 0.058 0 0 -1.57</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/elevator_left.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<pose>-0.90103043712540809 -1.4356019912623529e-05 0.057304774890379953 -1.5708004219891478 -1.5333831628670098 -3.141493135229823</pose>
|
||||
<mass>0.12150608610187363</mass>
|
||||
<inertia>
|
||||
<ixx>0.0029053735939891879</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0028879706692375028</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1.7683703559870421e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="servo_2" type="revolute">
|
||||
<pose>-0.883 0 0.058 0 0 -1.57</pose>
|
||||
<parent>base_link</parent>
|
||||
<child>elevator_link</child>
|
||||
<axis>
|
||||
<xyz>-1 0 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name="rudder_link">
|
||||
<pose>-0.887 0 0.201 0 0 -1.57</pose>
|
||||
<visual name="visual_rudder_link">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/rudder.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="collision_rudder_link">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/rudder.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>p
|
||||
<pose>3.0720176589210631e-09 -0.014597633583934367 -0.00023793299837082617 -0.00096325055376496349 0 0</pose>
|
||||
<mass>0.08686124232617691</mass>
|
||||
<inertia>
|
||||
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|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.00028035840542611708</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1.2453403617197103e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="servo_3" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>rudder_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-0.53</lower>
|
||||
<upper>0.53</upper>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>1.000</damping>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name="rotor_3">
|
||||
<gravity>true</gravity>
|
||||
<self_collide>false</self_collide>
|
||||
<velocity_decay/>
|
||||
<pose>-0.403 -0.427 0.083 0 0 -1.57</pose>
|
||||
<inertial>
|
||||
<mass>0.016076923076923075</mass>
|
||||
<inertia>
|
||||
<ixx>3.8464910483993325e-07</ixx>
|
||||
<iyy>2.6115851691700804e-05</iyy>
|
||||
<izz>2.649858234714004e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="rotor_3_visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/propeller_ccw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="rotor_3_collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rotor_0_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>rotor_0</child>
|
||||
<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">
|
||||
<gravity>true</gravity>
|
||||
<self_collide>false</self_collide>
|
||||
<velocity_decay/>
|
||||
<pose>0.403 0.427 0.083 0 0 -1.57</pose>
|
||||
<inertial>
|
||||
<mass>0.016076923076923075</mass>
|
||||
<inertia>
|
||||
<ixx>3.8464910483993325e-07</ixx>
|
||||
<iyy>2.6115851691700804e-05</iyy>
|
||||
<izz>2.649858234714004e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="rotor_2_visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/propeller_ccw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="rotor_2_collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rotor_1_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>rotor_1</child>
|
||||
<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_0">
|
||||
<gravity>true</gravity>
|
||||
<self_collide>false</self_collide>
|
||||
<velocity_decay/>
|
||||
<pose>0.403 -0.427 0.083 0 0 -1.57</pose>
|
||||
<inertial>
|
||||
<mass>0.016076923076923075</mass>
|
||||
<inertia>
|
||||
<ixx>3.8464910483993325e-07</ixx>
|
||||
<iyy>2.6115851691700804e-05</iyy>
|
||||
<izz>2.649858234714004e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="rotor_0_visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/propeller_cw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="rotor_0_collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rotor_2_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>rotor_2</child>
|
||||
<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">
|
||||
<gravity>true</gravity>
|
||||
<self_collide>false</self_collide>
|
||||
<velocity_decay/>
|
||||
<pose>-0.403 0.427 0.083 0 0 -1.57</pose>
|
||||
<inertial>
|
||||
<mass>0.016076923076923075</mass>
|
||||
<inertia>
|
||||
<ixx>3.8464910483993325e-07</ixx>
|
||||
<iyy>2.6115851691700804e-05</iyy>
|
||||
<izz>2.649858234714004e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="rotor_1_visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/propeller_cw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name="rotor_1_collision">
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2792307692307692 0.016923076923076923 0.0008461538461538462</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<surface>
|
||||
<contact>
|
||||
<ode>
|
||||
<min_depth>0.001</min_depth>
|
||||
<max_vel>0</max_vel>
|
||||
</ode>
|
||||
</contact>
|
||||
<friction>
|
||||
<ode/>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rotor_3_joint" type="revolute">
|
||||
<parent>base_link</parent>
|
||||
<child>rotor_3</child>
|
||||
<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>0.379 0.0 0.0 -1.57 1.57 -1.57</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'>
|
||||
<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'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://foxtech_loong_2160/meshes/propeller_cw.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</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>
|
||||
|
||||
<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 name='back_left_motor_model' filename='libgazebo_motor_model.so'> -->
|
||||
<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>
|
||||
<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>-0.2</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>servo_3</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>servo_3</joint_name>
|
||||
<sub_topic>servo_3</sub_topic>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
</model>
|
||||
</sdf>
|
||||
@@ -2,7 +2,7 @@
|
||||
<model>
|
||||
<name>rc_cessna</name>
|
||||
<version>1.0</version>
|
||||
<sdf version='1.9'>model.sdf</sdf>
|
||||
<sdf version='1.10'>model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Benjamin Perseghetti</name>
|
||||
|
||||
@@ -1,5 +1,5 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version='1.9'>
|
||||
<sdf version='1.10'>
|
||||
<model name='rc_cessna'>
|
||||
<pose>0 0 0.246 0 0 0</pose>
|
||||
<link name='base_link'>
|
||||
@@ -85,7 +85,7 @@
|
||||
<update_rate>250</update_rate>
|
||||
</sensor>
|
||||
</link>
|
||||
<link name="airspeed">
|
||||
<link name="airspeed_link">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
@@ -111,22 +111,22 @@
|
||||
<diffuse>0 0 0 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<!-- <sensor name="air_speed" type="air_speed">
|
||||
<sensor name="air_speed" type="air_speed">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>5.0</update_rate>
|
||||
<enable_metrics>false</enable_metrics>
|
||||
<air_speed>
|
||||
<airspeed>
|
||||
<pressure>
|
||||
<noise type="gaussian">
|
||||
<mean>0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</airspeed>
|
||||
</pressure>
|
||||
</air_speed>
|
||||
</sensor> -->
|
||||
</sensor>
|
||||
</link>
|
||||
<joint name='airspeed_joint' type='fixed'>
|
||||
<child>airspeed</child>
|
||||
<child>airspeed_link</child>
|
||||
<parent>base_link</parent>
|
||||
</joint>
|
||||
<link name='rotor_puller'>
|
||||
@@ -685,6 +685,7 @@
|
||||
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>
|
||||
@@ -708,6 +709,7 @@
|
||||
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>
|
||||
@@ -767,6 +769,7 @@
|
||||
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>
|
||||
@@ -789,6 +792,7 @@
|
||||
<plugin
|
||||
filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
|
||||
<joint_name>rudder_joint</joint_name>
|
||||
<p_gain>10.0</p_gain>
|
||||
</plugin>
|
||||
<plugin filename="ignition-gazebo-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
|
||||
<jointName>rotor_puller_joint</jointName>
|
||||
|
||||
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
@@ -0,0 +1,15 @@
|
||||
<?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>
|
||||
@@ -0,0 +1,734 @@
|
||||
<?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>
|
||||
</link>
|
||||
<link name="airspeed_link">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<mass>0.015</mass>
|
||||
<inertia>
|
||||
<ixx>1e-05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>1e-05</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1e-05</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<cylinder>
|
||||
<radius>0.01</radius>
|
||||
<length>0.1</length>
|
||||
</cylinder>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>0 0 0 1.0</ambient>
|
||||
<diffuse>0 0 0 1.0</diffuse>
|
||||
</material>
|
||||
</visual>
|
||||
<sensor name="air_speed" type="air_speed">
|
||||
<always_on>1</always_on>
|
||||
<update_rate>30</update_rate>
|
||||
<visualize>true</visualize>
|
||||
<enable_metrics>true</enable_metrics>
|
||||
<air_speed>
|
||||
<pressure>
|
||||
<noise type="gaussian">
|
||||
<mean>0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</pressure>
|
||||
</air_speed>
|
||||
</sensor>
|
||||
</link>
|
||||
<joint name='airspeed_joint' type='fixed'>
|
||||
<child>airspeed_link</child>
|
||||
<parent>base_link</parent>
|
||||
</joint>
|
||||
<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>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</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>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</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>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</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>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</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>
|
||||
<use_parent_model_frame>1</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name="left_elevon">
|
||||
<inertial>
|
||||
<mass>0.00000001</mass>
|
||||
<inertia>
|
||||
<ixx>0.000001</ixx>
|
||||
<ixy>0.0</ixy>
|
||||
<iyy>0.000001</iyy>
|
||||
<ixz>0.0</ixz>
|
||||
<iyz>0.0</iyz>
|
||||
<izz>0.000001</izz>
|
||||
</inertia>
|
||||
<pose>0 0.3 0 0.00 0 0.0</pose>
|
||||
</inertial>
|
||||
<visual name='left_elevon_visual'>
|
||||
<pose>-0.105 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>
|
||||
<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>
|
||||
<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-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>0.6</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>
|
||||
@@ -5,12 +5,14 @@
|
||||
<real_time_factor>1.0</real_time_factor>
|
||||
<real_time_update_rate>250</real_time_update_rate>
|
||||
</physics>
|
||||
<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'>
|
||||
<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::AirSpeed" filename="gz-sim-air-speed-system">
|
||||
</plugin>
|
||||
<plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
|
||||
<plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
|
||||
<render_engine>ogre2</render_engine>
|
||||
</plugin>
|
||||
<gui fullscreen='false'>
|
||||
|
||||
@@ -35,7 +35,6 @@
|
||||
find_package(gz-transport
|
||||
#REQUIRED COMPONENTS core
|
||||
NAMES
|
||||
#ignition-transport11 # IGN (Fortress and earlier) no longer supported
|
||||
gz-transport12
|
||||
#QUIET
|
||||
)
|
||||
|
||||
@@ -152,7 +152,7 @@ int GZBridge::init()
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
#if 0
|
||||
|
||||
// Airspeed: /world/$WORLD/model/$MODEL/link/airspeed_link/sensor/air_speed/air_speed
|
||||
std::string airpressure_topic = "/world/" + _world_name + "/model/" + _model_name +
|
||||
"/link/airspeed_link/sensor/air_speed/air_speed";
|
||||
@@ -162,7 +162,6 @@ int GZBridge::init()
|
||||
return PX4_ERROR;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
if (!_mixing_interface_esc.init(_model_name)) {
|
||||
PX4_ERR("failed to init ESC output");
|
||||
@@ -185,6 +184,7 @@ int GZBridge::task_spawn(int argc, char *argv[])
|
||||
const char *model_pose = nullptr;
|
||||
const char *model_sim = nullptr;
|
||||
const char *px4_instance = nullptr;
|
||||
std::string model_name_std;
|
||||
|
||||
|
||||
bool error_flag = false;
|
||||
@@ -248,7 +248,7 @@ int GZBridge::task_spawn(int argc, char *argv[])
|
||||
}
|
||||
|
||||
} else if (!model_name) {
|
||||
std::string model_name_std = std::string(model_sim) + "_" + std::string(px4_instance);
|
||||
model_name_std = std::string(model_sim) + "_" + std::string(px4_instance);
|
||||
model_name = model_name_std.c_str();
|
||||
}
|
||||
|
||||
@@ -329,31 +329,31 @@ void GZBridge::clockCallback(const gz::msgs::Clock &clock)
|
||||
pthread_mutex_unlock(&_node_mutex);
|
||||
}
|
||||
|
||||
#if 0
|
||||
void GZBridge::airpressureCallback(const gz::msgs::FluidPressure &air_pressure)
|
||||
|
||||
void GZBridge::airpressureCallback(const gz::msgs::AirSpeedSensor &air_pressure)
|
||||
{
|
||||
if (hrt_absolute_time() == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
pthread_mutex_lock(&_mutex);
|
||||
pthread_mutex_lock(&_node_mutex);
|
||||
|
||||
const uint64_t time_us = (air_pressure.header().stamp().sec() * 1000000)
|
||||
+ (air_pressure.header().stamp().nsec() / 1000);
|
||||
|
||||
double air_pressure_value = air_pressure.pressure();
|
||||
double air_pressure_value = air_pressure.diff_pressure();
|
||||
|
||||
differential_pressure_s report{};
|
||||
report.timestamp_sample = time_us;
|
||||
report.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION
|
||||
report.differential_pressure_pa = static_cast<float>(air_pressure_value); // hPa to Pa;
|
||||
report.temperature = static_cast<float>(air_pressure.variance()) + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // K to C
|
||||
report.temperature = static_cast<float>(air_pressure.temperature()) + CONSTANTS_ABSOLUTE_NULL_CELSIUS; // K to C
|
||||
report.timestamp = hrt_absolute_time();;
|
||||
_differential_pressure_pub.publish(report);
|
||||
|
||||
pthread_mutex_unlock(&_node_mutex);
|
||||
}
|
||||
#endif
|
||||
|
||||
|
||||
void GZBridge::imuCallback(const gz::msgs::IMU &imu)
|
||||
{
|
||||
|
||||
@@ -59,7 +59,7 @@
|
||||
#include <gz/msgs.hh>
|
||||
#include <gz/transport.hh>
|
||||
|
||||
// #include <gz/msgs/fluid_pressure.pb.h>
|
||||
#include <gz/msgs/air_speed_sensor.pb.h>
|
||||
#include <gz/msgs/imu.pb.h>
|
||||
|
||||
using namespace time_literals;
|
||||
@@ -94,14 +94,14 @@ private:
|
||||
|
||||
void clockCallback(const gz::msgs::Clock &clock);
|
||||
|
||||
//void airpressureCallback(const gz::msgs::FluidPressure &air_pressure);
|
||||
void airpressureCallback(const gz::msgs::AirSpeedSensor &air_pressure);
|
||||
void imuCallback(const gz::msgs::IMU &imu);
|
||||
void poseInfoCallback(const gz::msgs::Pose_V &pose);
|
||||
|
||||
// Subscriptions
|
||||
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
|
||||
|
||||
//uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
|
||||
uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
|
||||
uORB::Publication<vehicle_angular_velocity_s> _angular_velocity_ground_truth_pub{ORB_ID(vehicle_angular_velocity_groundtruth)};
|
||||
uORB::Publication<vehicle_attitude_s> _attitude_ground_truth_pub{ORB_ID(vehicle_attitude_groundtruth)};
|
||||
uORB::Publication<vehicle_global_position_s> _gpos_ground_truth_pub{ORB_ID(vehicle_global_position_groundtruth)};
|
||||
|
||||
Reference in New Issue
Block a user