Cleaned up the API and added SBUS support

With this margin it is made sure that if the loiter is not perfectly tracked,
(vehicle outside of path setpoint) a wp just at the border of the loiter
is still reachable.
It should though be as small as necessary, as otherwise, with good
loiter tracking,  waypoints that are close but not right on the loiter
radius are not enforcing the exit course neither.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

.ci/Jenkinsfile-compile

@@ -88,7 +88,6 @@ pipeline {
                      "nxp_fmuk66-e_socketcan",
                      "nxp_fmuk66-v3_default",
                      "nxp_fmuk66-v3_socketcan",
-                     "nxp_fmurt1062-v1_default",
                      "nxp_mr-canhubk3_default",
                      "nxp_ucans32k146_canbootloader",
                      "nxp_ucans32k146_default",
@@ -111,6 +110,8 @@ pipeline {
                      "px4_fmu-v6c_default",
                      "px4_fmu-v6u_default",
                      "px4_fmu-v6x_default",
+                     "px4_fmu-v6xrt_bootloader",
+                     "px4_fmu-v6xrt_default",
                      "px4_io-v2_default",
                      "raspberrypi_pico_default",
                      "sky-drones_smartap-airlink_default",

.devcontainer/devcontainer.json

@@ -29,7 +29,8 @@
 		"twxs.cmake",
 		"uavcan.dsdl",
 		"wholroyd.jinja",
-		"zixuanwang.linkerscript"
+		"zixuanwang.linkerscript",
+		"ms-vscode.makefile-tools"
 	],
 
 	"containerUser": "user",

.github/workflows/compile_macos.yml

@@ -18,6 +18,11 @@ jobs:
           px4_sitl
           ]
     steps:
+    - name: install Python 3.10
+      uses: actions/setup-python@v4
+      with:
+        python-version: "3.10"
+
     - uses: actions/checkout@v1
       with:
         token: ${{secrets.ACCESS_TOKEN}}

.github/workflows/compile_nuttx.yml

@@ -57,7 +57,6 @@ jobs:
           mro_x21-777,
           nxp_fmuk66-e,
           nxp_fmuk66-v3,
-          nxp_fmurt1062-v1,
           nxp_mr-canhubk3,
           nxp_ucans32k146,
           omnibus_f4sd,
@@ -70,6 +69,7 @@ jobs:
           px4_fmu-v6c,
           px4_fmu-v6u,
           px4_fmu-v6x,
+          px4_fmu-v6xrt,
           raspberrypi_pico,
           sky-drones_smartap-airlink,
           spracing_h7extreme,

.github/workflows/metadata.yml

@@ -128,4 +128,6 @@ jobs:
       run: |
         git clone https://github.com/PX4/px4_msgs.git
         rm px4_msgs/msg/*.msg
+        rm px4_msgs/srv/*.srv
         cp msg/*.msg px4_msgs/msg/
+        cp srv/*.srv px4_msgs/srv/

.github/workflows/nuttx_env_config.yml

@@ -0,0 +1,32 @@
+name: Nuttx Target with extra env config
+
+on:
+  push:
+    branches:
+    - 'main'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    strategy:
+      matrix:
+        config: [
+          px4_fmu-v5,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: make ${{matrix.config}}
+      env:
+        PX4_EXTRA_NUTTX_CONFIG: "CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
+      run: |
+        echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
+        make ${{matrix.config}} nuttx_context
+        # Check that the config option is set
+        grep CONFIG_NSH_LOGIN_PASSWORD build/${{matrix.config}}_default/NuttX/nuttx/.config

.gitmodules

@@ -62,3 +62,20 @@
 	path = src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client
 	url = https://github.com/PX4/Micro-XRCE-DDS-Client.git
 	branch = px4
+[submodule "src/lib/cdrstream/cyclonedds"]
+	path = src/lib/cdrstream/cyclonedds
+	url = https://github.com/px4/cyclonedds
+[submodule "src/lib/cdrstream/rosidl"]
+	path = src/lib/cdrstream/rosidl
+	url = https://github.com/px4/rosidl
+[submodule "src/modules/zenoh/zenoh-pico"]
+	path = src/modules/zenoh/zenoh-pico
+	url = https://github.com/px4/zenoh-pico
+	branch = pr-zubf-werror-fix
+[submodule "src/lib/heatshrink/heatshrink"]
+	path = src/lib/heatshrink/heatshrink
+	url = https://github.com/PX4/heatshrink.git
+	branch = px4
+[submodule "Tools/simulation/gz"]
+	path = Tools/simulation/gz
+	url = https://github.com/PX4/PX4-gazebo-models.git

.vscode/cmake-variants.yaml

@@ -81,6 +81,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: px4_fmu-v6x_bootloader
+    px4_fmu-v6xrt_default:
+      short: px4_fmu-v6xrt
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6xrt_default
+    px4_fmu-v6xrt_bootloader:
+      short: px4_fmu-v6xrt_bootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: px4_fmu-v6xrt_bootloader
     airmind_mindpx-v2_default:
       short: airmind_mindpx-v2
       buildType: MinSizeRel
@@ -181,6 +191,11 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: cubepilot_cubeorange_test
+    cubepilot_cubeorangeplus_test:
+      short: cubepilot_cubeorangeplus
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cubepilot_cubeorangeplus_test
     emlid_navio2_default:
       short: emlid_navio2
       buildType: MinSizeRel

.vscode/extensions.json

@@ -18,6 +18,7 @@
         "twxs.cmake",
         "uavcan.dsdl",
         "wholroyd.jinja",
-        "zixuanwang.linkerscript"
+        "zixuanwang.linkerscript",
+        "ms-vscode.makefile-tools"
     ]
 }

.vscode/settings.json

@@ -127,5 +127,6 @@
         "terminal.integrated.scrollback": 15000,
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        }
+        },
+        "ros.distro": "humble"
 }

CMakeLists.txt

@@ -148,6 +148,7 @@ define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                  BRIEF_DOCS "PX4 module paths"
                  FULL_DOCS "List of paths to all PX4 modules"
                  )
+
 define_property(GLOBAL PROPERTY PX4_SRC_FILES
                  BRIEF_DOCS "src files from all PX4 modules & libs"
                  FULL_DOCS "SRC files from px4_add_{module,library}"
@@ -414,6 +415,8 @@ endif()
 #
 add_library(parameters_interface INTERFACE)
 add_library(kernel_parameters_interface INTERFACE)
+add_library(events_interface INTERFACE)
+add_library(kernel_events_interface INTERFACE)
 
 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -440,8 +443,11 @@ add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
 	target_link_libraries(parameters_interface INTERFACE usr_parameters)
 	target_link_libraries(kernel_parameters_interface INTERFACE parameters)
+	target_link_libraries(events_interface INTERFACE usr_events)
+	target_link_libraries(kernel_events_interface INTERFACE events)
 else()
 	target_link_libraries(parameters_interface INTERFACE parameters)
+	target_link_libraries(events_interface INTERFACE events)
 endif()
 
 # firmware added last to generate the builtin for included modules

Jenkinsfile

@@ -105,6 +105,7 @@ pipeline {
             ./emsdk activate latest;
             cd ..;
             . ./_emscripten_sdk/emsdk_env.sh;
+            git fetch --all --tags;
             make failsafe_web;
             cd build/px4_sitl_default_failsafe_web;
             mkdir -p failsafe_sim;
@@ -230,7 +231,9 @@ pipeline {
               sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_msgs.git")
               // 'main' branch
               sh('rm -f px4_msgs/msg/*.msg')
+              sh('rm -f px4_msgs/srv/*.srv')
               sh('cp msg/*.msg px4_msgs/msg/')
+              sh('cp srv/*.srv px4_msgs/srv/')
               sh('cd px4_msgs; git status; git add .; git commit -a -m "Update message definitions `date`" || true')
               sh('cd px4_msgs; git push origin main || true')
               sh('rm -rf px4_msgs')

Kconfig

@@ -205,3 +205,5 @@ menu "platforms"
 depends on PLATFORM_QURT || PLATFORM_POSIX
 source "platforms/common/Kconfig"
 endmenu
+
+source "src/lib/*/Kconfig"

Makefile

@@ -266,7 +266,6 @@ px4fmu_firmware: \
 
 misc_qgc_extra_firmware: \
 	check_nxp_fmuk66-v3_default \
-	check_nxp_fmurt1062-v1_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
 	check_bitcraze_crazyflie21_default \
@@ -484,7 +483,9 @@ validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
 	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
+	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
+	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
 	-not -path "$(SRC_DIR)/src/lib/crypto/libtommath/*" -print0 | \
 	xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
 

README.md

@@ -114,7 +114,7 @@ These boards are maintained to be compatible with PX4-Autopilot by the Manufactu
 
 ### Community supported
 
-These boards don't fully comply industry standards, and thus is solely maintained by the PX4 publc community members.
+These boards don't fully comply industry standards, and thus is solely maintained by the PX4 public community members.
 
 ### Experimental
 

ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow

@@ -31,6 +31,7 @@ param set-default PWM_MAIN_FUNC4 104
 
 # EKF2
 param set-default EKF2_GPS_CTRL 0
+param set-default EKF2_HGT_REF 0
 param set-default EKF2_EVP_NOISE 0.05
 param set-default EKF2_EVA_NOISE 0.05
 param set-default EKF2_OF_CTRL 1
@@ -39,6 +40,9 @@ param set-default EKF2_OF_CTRL 1
 param set-default LPE_FUSION 242
 param set-default LPE_FAKE_ORIGIN 1
 
+# Commander
+# param set-default COM_HOME_EN 0 # Disable setting of home position
+
 param set-default MPC_ALT_MODE 2
 
 param set-default SENS_FLOW_ROT 6

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -7,6 +7,7 @@
 
 param set-default FW_LAUN_DETCN_ON 1
 param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
+param set-default FW_LAUN_AC_THLD 10
 
 param set-default FW_LND_ANG 8
 

ROMFS/px4fmu_common/init.d-posix/airframes/1039_gazebo-classic_advanced_plane

@@ -8,7 +8,6 @@
 
 
 param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
 
 param set-default NPFG_PERIOD 12
 
@@ -36,7 +35,6 @@ param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
 
-#param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 1
 
 param set-default CA_ROTOR_COUNT 1
@@ -61,7 +59,3 @@ param set-default PWM_MAIN_FUNC7 202
 param set-default PWM_MAIN_FUNC8 203
 param set-default PWM_MAIN_FUNC9 206
 param set-default PWM_MAIN_REV 256
-
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1040_gazebo-classic_standard_vtol

@@ -47,6 +47,8 @@ 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_AIRSPD_MAX 25
+param set-default FW_THR_ASPD_MAX 0.4
 param set-default NPFG_PERIOD 12
 param set-default FW_PR_FF 0.2
 param set-default FW_PR_P 0.9
@@ -62,19 +64,18 @@ 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_ROLL_P 4
 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6
+param set-default MC_YAWRATE_P 0.3
+
 
 param set-default MIS_TAKEOFF_ALT 10
 
-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_FWD_THRUST_SC 1
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2
 

ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover

@@ -4,31 +4,9 @@
 # @type Rover
 # @class Rover
 
-. ${R}etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_differential_defaults
 
-param set-default GND_L1_DIST 5
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 3
-param set-default GND_SPEED_I 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 4
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
-
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
-
-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
-
-param set-default CA_AIRFRAME 6
-
-param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102
-

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -66,7 +66,6 @@ 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
@@ -76,7 +75,7 @@ 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 NPFG_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

ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision

@@ -52,12 +52,8 @@ param set-default MAV_1_MODE 9
 # param set-default SER_TEL1_BAUD 921600	Not found
 
 # Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
 param set-default MC_ACRO_P_MAX 200
 param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
 param set-default MC_PITCHRATE_D 0.0015
 param set-default MC_ROLLRATE_D 0.0015

ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane

@@ -0,0 +1,82 @@
+#!/bin/sh
+#
+# @name Advanced Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+param set-default FW_LND_ANG 8
+param set-default NPFG_PERIOD 12
+
+param set-default FW_MAN_P_MAX 30
+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 FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+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_MIN 0.05
+param set-default FW_THR_TRIM 0.25
+
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+param set-default RWTO_TKOFF 1
+
+param set-default CA_AIRFRAME 1
+
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3
+
+param set-default CA_SV_CS_COUNT 6
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS2_TRQ_P 1.0
+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 10
+param set-default SIM_GZ_EC_MAX1 1600
+
+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

ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover

@@ -0,0 +1,31 @@
+#!/bin/sh
+# @name Aion Robotics R1 Rover
+# @type Rover
+# @class Rover
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}
+
+param set-default SIM_GZ_EN 1 # Gazebo bridge
+
+# Simulated sensors
+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
+
+# Actuator mapping
+param set-default SIM_GZ_WH_FUNC1 101 # right wheel
+param set-default SIM_GZ_WH_MIN1 0
+param set-default SIM_GZ_WH_MAX1 200
+param set-default SIM_GZ_WH_DIS1 100
+
+param set-default SIM_GZ_WH_FUNC2 102 # left wheel
+param set-default SIM_GZ_WH_MIN2 0
+param set-default SIM_GZ_WH_MAX2 200
+param set-default SIM_GZ_WH_DIS2 100
+
+param set-default SIM_GZ_WH_REV 1 # reverse right wheel

ROMFS/px4fmu_common/init.d-posix/airframes/4010_gz_x500_mono_cam

@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 mono cam
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_mono_cam}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500

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

@@ -79,6 +79,9 @@ px4_add_romfs_files(
 	4004_gz_standard_vtol
 	4005_gz_x500_vision
 	4006_gz_px4vision
+	4008_gz_advanced_plane
+	4009_gz_r1_rover
+	4010_gz_x500_mono_cam
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -36,7 +36,10 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		exit 1
 	fi
 
-elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then
+elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
+	# Use Gazebo
+
+	echo "INFO  [init] Gazebo simulator"
 
 	# set local coordinate frame reference
 	if [ -n "${PX4_HOME_LAT}" ]; then
@@ -48,145 +51,112 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 	fi
 
 	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIM_GZ_HOME_ALT ${PX4_HOME_LON}
+		param set SIM_GZ_HOME_ALT ${PX4_HOME_ALT}
 	fi
 
-	# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
-	if [ -f ./gz_env.sh ]; then
-		. ./gz_env.sh
+	# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
+	if [ -z "${PX4_GZ_STANDALONE}" ]; then
 
-	elif [ -f ../gz_env.sh ]; then
-		. ../gz_env.sh
-	fi
-
-	# "gz sim" only avaiilable in Garden and later
-	GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
-	if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
-	then
-		# "gz sim" from Garden on
-		gz_command="gz"
-		gz_sub_command="sim"
-	else
-		echo "ERROR [init] Gazebo gz please install gz-garden"
-		exit 1
-	fi
-
-	# look for running ${gz_command} gazebo world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
-
-	# shellcheck disable=SC2153
-	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
-
-		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}/${PX4_GZ_WORLD}.sdf" &
-
-		if [ -z "${HEADLESS}" ]; then
-			# HEADLESS not set, starting gui
-			${gz_command} ${gz_sub_command} -g &
+		# "gz sim" only available in Garden and later
+		GZ_SIM_VERSIONS=$(gz sim --versions 2>&1)
+		if [ $? -eq 0 ] && [ "${GZ_SIM_VERSIONS}" != "" ]
+		then
+			# "gz sim" from Garden on
+			gz_command="gz"
+			gz_sub_command="sim"
+		else
+			echo "ERROR [init] Gazebo gz please install gz-garden"
+			exit 1
 		fi
 
+		# look for running ${gz_command} gazebo world
+		gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+
+		# shellcheck disable=SC2153
+		if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
+
+			# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
+			if [ -f ./gz_env.sh ]; then
+				. ./gz_env.sh
+
+			elif [ -f ../gz_env.sh ]; then
+				. ../gz_env.sh
+			fi
+
+			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}/${PX4_GZ_WORLD}.sdf" &
+
+			if [ -z "${HEADLESS}" ]; then
+				# HEADLESS not set, starting gui
+				${gz_command} ${gz_sub_command} -g &
+			fi
+
+		else
+			# Gazebo is already running, do not start the simulator, nor the GUI
+			echo "INFO  [init] gazebo already running world: ${gz_world}"
+			PX4_GZ_WORLD=${gz_world}
+		fi
 	else
-		echo "INFO  [init] gazebo already running world: ${gz_world}"
-		PX4_GZ_WORLD=${gz_world}
+		echo "INFO  [init] Standalone PX4 launch, waiting for Gazebo"
 	fi
 
 	# start gz_bridge
-	if [ -n "${PX4_GZ_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
+	if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 		# model specified, gz_bridge will spawn model
 
 		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
+			# model pose provided: [x, y, z, roll, pitch, yaw]
+
 			# Clean potential input line formatting.
 			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
 			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
 
 		else
+			# model pose not provided, origin will be used
+
 			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
 			model_pose="0,0,0,0,0,0"
 		fi
 
 		# 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
-
-		else
-			echo "ERROR [init] gz_bridge failed to start"
+		if ! gz_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+			echo "ERROR [init] gz_bridge failed to start and spawn model"
 			exit 1
 		fi
 
-	elif [ -n "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
+	elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
 		# 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
-
-		else
-			echo "ERROR [init] gz_bridge failed to start"
-			exit 1
-		fi
-
-	elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
-
-		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
-
-		if gz_bridge start -m "${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
-
-		else
-			echo "ERROR [init] gz_bridge failed to start"
+		echo "INFO  [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
+		if ! gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
+			echo "ERROR [init] gz_bridge failed to start and attach to existing model"
 			exit 1
 		fi
 
 	else
-		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
+		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_SIM_MODEL"
 		exit 1
 	fi
 
+	# Start the sensor simulator modules
+	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
+
 elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
 
 	echo "INFO  [init] jMAVSim simulator"

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -153,7 +153,6 @@ fi
 
 param set-default BAT1_N_CELLS 4
 
-param set-default CBRK_AIRSPD_CHK 0
 param set-default CBRK_SUPPLY_CHK 894281
 
 # disable check, no CPU load reported on posix yet

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -51,6 +51,8 @@ px4_add_romfs_files(
 	rc.thermal_cal
 	rc.rover_apps
 	rc.rover_defaults
+	rc.rover_differential_apps
+	rc.rover_differential_defaults
 	rc.uuv_apps
 	rc.uuv_defaults
 	rc.vehicle_setup

ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad

@@ -28,13 +28,13 @@ param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
 
-param set-default CBRK_AIRSPD_CHK 162128
+param set-default SYS_HAS_NUM_ASPD 0
 param set-default CBRK_IO_SAFETY 22027
 
 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12
 
-param set-default FW_ARSP_MODE 1
+param set-default FW_USE_AIRSPD 0
 param set-default NPFG_PERIOD 25
 param set-default FW_PR_FF 0.7
 param set-default FW_PR_I 0.18

ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision

@@ -45,12 +45,8 @@ param set-default MAV_1_MODE 9
 param set-default SER_TEL1_BAUD 921600
 
 # Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
 param set-default MC_ACRO_P_MAX 200
 param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
 param set-default MC_PITCHRATE_D 0.0015
 param set-default MC_ROLLRATE_D 0.0015

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -38,5 +38,3 @@ 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_TIM0 -4
-

ROMFS/px4fmu_common/init.d/airframes/4020_holybro_px4vision_v1_5

@@ -45,12 +45,8 @@ param set-default MAV_1_MODE 9
 param set-default SER_TEL1_BAUD 921600
 
 # Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
 param set-default MC_ACRO_P_MAX 200
 param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
 param set-default MC_ACRO_Y_MAX 150
 param set-default MC_PITCHRATE_D 0.0015
 param set-default MC_ROLLRATE_D 0.0015

ROMFS/px4fmu_common/init.d/airframes/4040_reaper

@@ -1,65 +0,0 @@
-#!/bin/sh
-#
-# @name Reaper 500 Quad
-#
-# @type Quadrotor H
-# @class Copter
-#
-# @maintainer Blankered
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_ROLLRATE_P 0.14
-param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 6
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_PITCHRATE_I 0.09
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 4
-
-param set-default NAV_ACC_RAD 2
-
-param set-default RTL_RETURN_ALT 30
-param set-default RTL_DESCEND_ALT 10
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM -0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM 0.05
-
-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_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1100
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 1900
-
-param set-default PWM_MAIN_TIM0 50
-param set-default PWM_MAIN_TIM1 50
-param set-default PWM_MAIN_TIM2 50
-
-param set-default PWM_AUX_TIM0 50
-param set-default PWM_AUX_TIM1 50
-param set-default PWM_AUX_TIM2 50
-
-

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie

@@ -1,92 +0,0 @@
-#!/bin/sh
-#
-# @name Crazyflie 2
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Dennis Shtatov <densht@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board px4_fmu-v3 exclude
-# @board px4_fmu-v4 exclude
-# @board px4_fmu-v4pro exclude
-# @board px4_fmu-v5 exclude
-# @board px4_fmu-v5x exclude
-# @board diatone_mamba-f405-mk2 exclude
-#
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_N_CELLS 1
-param set-default BAT1_CAPACITY 240
-param set-default BAT1_SOURCE 1
-
-param set-default CBRK_SUPPLY_CHK 894281
-param set-default COM_RC_IN_MODE 1
-
-param set-default EKF2_ABL_LIM 2
-param set-default EKF2_HGT_REF 2
-param set-default EKF2_RNG_CTRL 2
-param set-default EKF2_MAG_TYPE 1
-param set-default EKF2_OF_CTRL 1
-param set-default EKF2_OF_DELAY 10
-
-param set-default IMU_GYRO_CUTOFF 100
-param set-default IMU_ACCEL_CUTOFF 30
-
-param set-default MC_AIRMODE 1
-param set-default IMU_DGYRO_CUTOFF 70
-param set-default MC_PITCHRATE_D 0.002
-param set-default MC_PITCHRATE_P 0.07
-param set-default MC_ROLLRATE_D 0.002
-param set-default MC_ROLLRATE_P 0.07
-param set-default MC_YAW_P 3
-
-param set-default MPC_THR_HOVER 0.7
-param set-default MPC_THR_MAX 1
-param set-default MPC_Z_P 1.5
-param set-default MPC_Z_VEL_P_ACC 8
-param set-default MPC_Z_VEL_I_ACC 6
-param set-default MPC_HOLD_MAX_XY 0.1
-param set-default MPC_MAX_FLOW_HGT 3
-
-param set-default NAV_RCL_ACT 3
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.03
-param set-default CA_ROTOR0_PY 0.03
-param set-default CA_ROTOR1_PX -0.03
-param set-default CA_ROTOR1_PY 0.03
-param set-default CA_ROTOR1_KM -0.05
-param set-default CA_ROTOR2_PX -0.03
-param set-default CA_ROTOR2_PY -0.03
-param set-default CA_ROTOR3_PX 0.03
-param set-default CA_ROTOR3_PY -0.03
-param set-default CA_ROTOR3_KM -0.05
-
-# Run the motors at 328.125 kHz (recommended)
-param set-default PWM_MAIN_TIM0 3921
-param set-default PWM_MAIN_TIM1 3921
-
-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_DIS0 0
-param set-default PWM_MAIN_DIS1 0
-param set-default PWM_MAIN_DIS2 0
-param set-default PWM_MAIN_DIS3 0
-param set-default PWM_MAIN_MIN0 0
-param set-default PWM_MAIN_MIN1 0
-param set-default PWM_MAIN_MIN2 0
-param set-default PWM_MAIN_MIN3 0
-param set-default PWM_MAIN_MAX0 255
-param set-default PWM_MAIN_MAX1 255
-param set-default PWM_MAIN_MAX2 255
-param set-default PWM_MAIN_MAX3 255
-
-
-param set-default SENS_FLOW_MINRNG 0.05
-
-syslink start
-mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -42,7 +42,6 @@ param set-default MC_ROLLRATE_P 0.07
 param set-default MC_YAW_P 3
 
 param set-default MPC_THR_HOVER 0.7
-param set-default MPC_THR_MAX 1
 param set-default MPC_Z_P 1.5
 param set-default MPC_Z_VEL_P_ACC 8
 param set-default MPC_Z_VEL_I_ACC 6

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -11,51 +11,15 @@
 # @board bitcraze_crazyflie exclude
 #
 
-. ${R}etc/init.d/rc.rover_defaults
+. ${R}etc/init.d/rc.rover_differential_defaults
 
 param set-default BAT1_N_CELLS 4
 
 param set-default EKF2_GBIAS_INIT 0.01
 param set-default EKF2_ANGERR_INIT 0.01
-param set-default EKF2_MAG_TYPE 1
-
-param set-default FW_AIRSPD_MIN 0
-param set-default FW_AIRSPD_TRIM 1
-param set-default FW_AIRSPD_MAX 3
-
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_L1_DIST 5
-param set-default GND_L1_PERIOD 3
-param set-default GND_THR_CRUISE 0.7
-param set-default GND_THR_MAX 0.5
-
-# Because this is differential drive, it can make a turn with radius 0.
-# This corresponds to a turn angle of pi radians.
-# If a special case is made for differential-drive, this will need to change.
-param set-default GND_MAX_ANG 3.142
-param set-default GND_WHEEL_BASE 0.3
-
-# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
-# to support negative throttle.
-param set-default GND_THR_MIN 0
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_THR_SC 1
-
-param set-default NAV_ACC_RAD 0.5
-
-# 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
 
 # Set geometry & output configration
-param set-default CA_AIRFRAME 6
-param set-default CA_R_REV 3
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_DIS1 1500
-param set-default PWM_MAIN_DIS2 1500
-param set-default PWM_MAIN_TIM0 50
-param set-default PWM_MAIN_TIM1 50
-
+param set-default RBCLW_ADDRESS 128
+param set-default RBCLW_FUNC1 101
+param set-default RBCLW_FUNC2 102
+param set-default RBCLW_REV 1 # reverse right wheels

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

@@ -58,7 +58,6 @@ px4_add_romfs_files(
 	4017_nxp_hovergames
 	4019_x500_v2
 	4020_holybro_px4vision_v1_5
-	4040_reaper
 	4041_beta75x
 	4050_generic_250
 	4052_holybro_qav250
@@ -67,7 +66,6 @@ px4_add_romfs_files(
 	4071_ifo
 	4073_ifo-s
 	4500_clover4
-	4900_crazyflie
 	4901_crazyflie21
 
 	# [5000, 5999] Quadrotor +"

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -17,7 +17,7 @@ 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_VEL_FS_EVH 5
+param set-default COM_VEL_FS_EVH 3
 
 param set-default COM_POS_LOW_EPH 50
 
@@ -34,6 +34,7 @@ param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
 param set-default EKF2_REQ_SACC 1
 param set-default EKF2_REQ_VDRIFT 1.0
+param set-default EKF2_RNG_QLTY_T 3.0
 
 param set-default RTL_TYPE 1
 param set-default RTL_RETURN_ALT 100
@@ -53,3 +54,5 @@ param set-default MIS_TKO_LAND_REQ 2
 # FW takeoff acceleration can easily exceed ublox GPS 2G default.
 #
 param set-default GPS_UBX_DYNMODEL 8
+
+param set-default SYS_HAS_NUM_ASPD 1 # by default require an airspeed sensor

ROMFS/px4fmu_common/init.d/rc.rover_apps

@@ -9,8 +9,6 @@
 # Start the attitude and position estimator.
 #
 ekf2 start &
-#attitude_estimator_q start
-#local_position_estimator start
 
 #
 # Start Control Allocator
@@ -22,7 +20,6 @@ control_allocator start
 #
 rover_pos_control start
 
-
 #
 # Start Land Detector.
 #

ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -10,9 +10,6 @@ set VEHICLE_TYPE rover
 # MAV_TYPE_GROUND_ROVER 10
 param set-default MAV_TYPE 10
 
-# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
-
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 2

ROMFS/px4fmu_common/init.d/rc.rover_differential_apps

@@ -0,0 +1,11 @@
+#!/bin/sh
+# Standard apps for a differential drive rover.
+
+# Start the attitude and position estimator.
+ekf2 start &
+
+# Start rover differential drive controller.
+differential_drive_control start
+
+# Start Land Detector.
+land_detector start rover

ROMFS/px4fmu_common/init.d/rc.rover_differential_defaults

@@ -0,0 +1,11 @@
+#!/bin/sh
+# Differential rover parameters.
+
+set VEHICLE_TYPE rover_differential
+
+param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
+
+param set-default CA_AIRFRAME 6 # Rover (Differential)
+param set-default CA_R_REV 3 # Right and left motors reversible
+
+param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying

ROMFS/px4fmu_common/init.d/rc.uuv_defaults

@@ -9,6 +9,3 @@ set VEHICLE_TYPE uuv
 
 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12
-
-# UUV don't have an airspeed sensor, so disable checks around it
-param set-default CBRK_AIRSPD_CHK 162128

ROMFS/px4fmu_common/init.d/rc.vehicle_setup

@@ -32,6 +32,15 @@ then
 	. ${R}etc/init.d/rc.rover_apps
 fi
 
+#
+# Differential Rover setup.
+#
+if [ $VEHICLE_TYPE = rover_differential ]
+then
+	# Start differential drive rover apps.
+	. ${R}etc/init.d/rc.rover_differential_apps
+fi
+
 #
 # VTOL setup.
 #

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -42,4 +42,6 @@ param set-default MPC_MAN_Y_MAX 90
 
 param set-default RTL_TYPE 1
 
+param set-default SYS_HAS_NUM_ASPD 1 # by default require an airspeed sensor
+
 param set-default WV_EN 1

ROMFS/px4fmu_common/init.d/rcS

@@ -93,6 +93,14 @@ then
 		fi
 	fi
 
+	# Check for an update of the ext_autostart folder, and replace the old one with it
+	if [ -e /fs/microsd/ext_autostart_new ]
+	then
+		echo "Updating external autostart files"
+		rm -r $SDCARD_EXT_PATH
+		mv /fs/microsd/ext_autostart_new $SDCARD_EXT_PATH
+	fi
+
 	set PARAM_FILE /fs/microsd/params
 	set PARAM_BACKUP_FILE "/fs/microsd/parameters_backup.bson"
 fi
@@ -162,7 +170,7 @@ else
 		param select-backup $PARAM_BACKUP_FILE
 	fi
 
-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X PX4_FMU_V6XRT
 	then
 		netman update -i eth0
 	fi
@@ -266,12 +274,9 @@ else
 		. $FCONFIG
 	fi
 
-	#
-	# Start IO for PWM output or RC input if enabled
-	#
-	if param compare -s SYS_USE_IO 1
+	if px4io supported
 	then
-		# Check if PX4IO present and update firmware if needed.
+	# Check if PX4IO present and update firmware if needed.
 		if [ -f $IOFW ]
 		then
 			if ! px4io checkcrc ${IOFW}
@@ -293,12 +298,12 @@ else
 					tune_control stop
 				fi
 			fi
-		fi
 
-		if ! px4io start
-		then
-			echo "PX4IO start failed"
-			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+			if ! px4io start
+			then
+				echo "PX4IO start failed"
+				set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+			fi
 		fi
 	fi
 
@@ -529,6 +534,10 @@ else
 			cyphal start
 		fi
 	fi
+	if param greater -s ZENOH_ENABLE 0
+	then
+		zenoh start
+	fi
 
 #
 # End of autostart.

SECURITY.md

@@ -0,0 +1,25 @@
+# Security Policy
+
+## Supported Versions
+
+The following is a list of versions the development team is currently supporting.
+
+| Version | Supported          |
+| ------- | ------------------ |
+| 1.4.x   | :white_check_mark: |
+| 1.3.3   | :white_check_mark: |
+| < 1.3   | :x:                |
+
+## Reporting a Vulnerability
+
+We currently only receive security vulnerability reports through GitHub.
+
+To begin a report, please go to the top-level repository, for example, PX4/PX4-Autopilot,
+and click on the Security tab. If you are on mobile, click the ... dropdown menu, and then click Security.
+
+Click Report a Vulnerability to open the advisory form. Fill in the advisory details form.
+Make sure your title is descriptive, and the development team can find all of the relevant details needed
+to verify on the description box. We recommend you add as much data as possible. We welcome logs,
+screenshots, photos, and videos, anything that can help us verify and identify the issues being reported.
+
+At the bottom of the form, click Submit report. The maintainer team will be notified and will get back to you ASAP.

Tools/astyle/files_to_check_code_style.sh

@@ -25,5 +25,9 @@ exec find boards msg src platforms test \
     -path src/lib/crypto/monocypher -prune -o \
     -path src/lib/crypto/libtomcrypt -prune -o \
     -path src/lib/crypto/libtommath -prune -o \
+    -path src/lib/heatshrink/heatshrink -prune -o \
     -path src/modules/uxrce_dds_client/Micro-XRCE-DDS-Client -prune -o \
+    -path src/lib/cdrstream/cyclonedds -prune -o \
+    -path src/lib/cdrstream/rosidl -prune -o \
+    -path src/modules/zenoh/zenoh-pico -prune -o \
     -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN

Tools/ecl_ekf/plotting/pdf_report.py

@@ -43,6 +43,11 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
     except:
         raise PreconditionError('could not find estimator_states instance', multi_instance)
 
+    try:
+        estimator_sensor_bias = ulog.get_dataset('estimator_sensor_bias', multi_instance).data
+    except:
+        raise PreconditionError('could not find estimator_sensor_bias instance', multi_instance)
+
     try:
         estimator_innovations = ulog.get_dataset('estimator_innovations', multi_instance).data
         estimator_innovation_variances = ulog.get_dataset('estimator_innovation_variances', multi_instance).data
@@ -299,21 +304,21 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
         data_plot.save()
         data_plot.close()
 
-        # Plot the delta angle bias estimates
+        # Plot the gyro bias estimates
         data_plot = CheckFlagsPlot(
-            1e-6 * estimator_states['timestamp'], estimator_states,
-            [['states[10]'], ['states[11]'], ['states[12]']],
-            x_label='time (sec)', y_labels=['X (rad)', 'Y (rad)', 'Z (rad)'],
-            plot_title='Delta Angle Bias Estimates', annotate=False, pdf_handle=pdf_pages)
+            1e-6 * estimator_sensor_bias['timestamp'], estimator_sensor_bias,
+            [['gyro_bias[0]'], ['gyro_bias[1]'], ['gyro_bias[2]']],
+            x_label='time (sec)', y_labels=['X (rad/s)', 'Y (rad/s)', 'Z (rad/s)'],
+            plot_title='Gyro Bias Estimates', annotate=False, pdf_handle=pdf_pages)
         data_plot.save()
         data_plot.close()
 
-        # Plot the delta velocity bias estimates
+        # Plot the accel bias estimates
         data_plot = CheckFlagsPlot(
-            1e-6 * estimator_states['timestamp'], estimator_states,
-            [['states[13]'], ['states[14]'], ['states[15]']],
-            x_label='time (sec)', y_labels=['X (m/s)', 'Y (m/s)', 'Z (m/s)'],
-            plot_title='Delta Velocity Bias Estimates', annotate=False, pdf_handle=pdf_pages)
+            1e-6 * estimator_sensor_bias['timestamp'], estimator_sensor_bias,
+            [['accel_bias[0]'], ['accel_bias[1]'], ['accel_bias[2]']],
+            x_label='time (sec)', y_labels=['X (m/s^2)', 'Y (m/s^2)', 'Z (m/s^2)'],
+            plot_title='Accel Bias Estimates', annotate=False, pdf_handle=pdf_pages)
         data_plot.save()
         data_plot.close()
 

Tools/module_config/output_groups_from_timer_config.py

@@ -80,6 +80,8 @@ def get_timer_groups(timer_config_file, verbose=False):
             max_num_channels = 16 # Just add a fixed number of timers
             timers = [str(i) for i in range(max_num_channels)]
             dshot_support = {str(i): False for i in range(max_num_channels)}
+            for i in range(8): # First 8 channels support dshot
+                dshot_support[str(i)] = True
             break
 
         if timer:

Tools/msg/px_generate_uorb_compressed_fields.py

@@ -0,0 +1,235 @@
+#!/usr/bin/env python3
+#############################################################################
+#
+#   Copyright (C) 2023 PX4 Pro Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+#############################################################################
+
+"""
+Generates cpp source + header files with compressed uorb topic fields from json files
+"""
+
+import argparse
+import json
+import struct
+from operator import itemgetter
+import sys
+import os
+
+sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), '../../src/lib/heatshrink'))
+import heatshrink_encode
+
+
+def parse_json_files(json_files: [str]) -> dict:
+    """Read list of json files into a dict"""
+    definitions = {}
+    for json_file in json_files:
+        with open(json_file, encoding='utf-8') as file_handle:
+            definition = json.load(file_handle)
+            assert definition['name'] not in definitions
+            definitions[definition['name']] = definition
+            definitions[definition['name']]['completed'] = False
+
+    return definitions
+
+
+def get_ordered_list_by_dependency(name: str, definitions: dict) -> [str]:
+    """Iterate dependency graph and create an ordered list"""
+    if definitions[name]['completed']:
+        return []
+    ret = []
+    # Get nested types first (DFS)
+    for dependency in definitions[name]['dependencies']:
+        ret.extend(get_ordered_list_by_dependency(dependency, definitions))
+
+    ret.append(name)
+    definitions[name]['completed'] = True
+    return ret
+
+
+def get_field_definitions(names: [str], definitions: dict) -> (bytes, [str]):
+    """Get byte array with all definitions"""
+    ret = bytes()
+    formats_list = []
+
+    for name in names:
+        # Format as '<# orb_ids><orb_id0...><# orb_ids dependencies<orb_id_dependency0...><fields><null>'
+        assert len(definitions[name]['orb_ids']) < 255
+        assert len(definitions[name]['dependencies']) < 255
+        ret += struct.pack('<B', len(definitions[name]['orb_ids']))
+        for orb_id in definitions[name]['orb_ids']:
+            assert orb_id < (1 << 16)
+            ret += struct.pack('<H', orb_id)
+        # Dependencies
+        ret += struct.pack('<B', len(definitions[name]['dependencies']))
+        for dependent_message_name in definitions[name]['dependencies']:
+            # Get ORB ID by looking up the name in all definitions
+            dependent_orb_id_list = [definitions[k]['main_orb_id'] for k in definitions if
+                                     definitions[k]['name'] == dependent_message_name]
+            assert len(dependent_orb_id_list) == 1
+            orb_id = dependent_orb_id_list[0]
+            assert (1 << 16) > orb_id >= 0
+            ret += struct.pack('<H', orb_id)
+
+        ret += bytes(definitions[name]['fields'], 'latin1')
+        ret += b'\0'
+
+        formats_list.append(definitions[name]['fields'])
+
+    return ret, formats_list
+
+
+def write_fields_to_cpp_file(file_name: str, compressed_fields: bytes):
+    fields_str = ', '.join(str(c) for c in compressed_fields)
+    with open(file_name, 'w') as file_handle:
+        file_handle.write('''
+// Auto-generated from px4_generate_uorb_compressed_fields.py
+#include <uORB/topics/uORBMessageFieldsGenerated.hpp>
+
+namespace uORB {
+
+static const uint8_t compressed_fields[] = {
+    {FIELDS}
+};
+
+const uint8_t* orb_compressed_message_formats()
+{
+    return compressed_fields;
+}
+unsigned orb_compressed_message_formats_size()
+{
+    return sizeof(compressed_fields) / sizeof(compressed_fields[0]);
+}
+
+} // namespace uORB
+'''.replace('{FIELDS}', fields_str))
+
+
+def c_encode(s, encoding='ascii'):
+    result = ''
+    for c in s:
+        if not (32 <= ord(c) < 127) or c in ('\\', '"'):
+            result += '\\%03o' % ord(c)
+        else:
+            result += c
+    return '"' + result + '"'
+
+
+def write_fields_to_hpp_file(file_name: str, definitions: dict, window_length: int, lookahead_length: int,
+                             format_list: [str]):
+    max_tokenized_field_length, max_tokenized_field_length_msg = max(
+        ((len(definitions[k]['fields']), k) for k in definitions), key=itemgetter(0))
+    max_untokenized_field_length = max(definitions[k]['fields_total_length'] for k in definitions)
+    max_num_orb_ids = max(len(definitions[k]['orb_ids']) for k in definitions)
+    max_num_orb_id_dependencies = max(len(definitions[k]['dependencies']) for k in definitions)
+
+    with open(file_name, 'w') as file_handle:
+        file_handle.write('''
+// Auto-generated from px4_generate_uorb_compressed_fields.py
+#include <cstdint>
+
+namespace uORB {
+
+ /**
+  * Get compressed string of all uorb message format definitions
+  */
+const uint8_t* orb_compressed_message_formats();
+
+/**
+ * Get length of compressed message format definitions
+ */
+unsigned orb_compressed_message_formats_size();
+
+static constexpr unsigned orb_tokenized_fields_max_length = {MAX_TOKENIZED_FIELD_LENGTH}; // {MAX_TOKENIZED_FIELD_LENGTH_MSG}
+static constexpr unsigned orb_untokenized_fields_max_length = {MAX_UNTOKENIZED_FIELD_LENGTH};
+static constexpr unsigned orb_compressed_max_num_orb_ids = {MAX_NUM_ORB_IDS};
+static constexpr unsigned orb_compressed_max_num_orb_id_dependencies = {MAX_NUM_ORB_ID_DEPENDENCIES};
+
+static constexpr unsigned orb_compressed_heatshrink_window_length = {WINDOW_LENGTH};
+static constexpr unsigned orb_compressed_heatshrink_lookahead_length = {LOOKAHEAD_LENGTH};
+
+#define ORB_DECOMPRESSED_MESSAGE_FIELDS {{DECOMPRESSED_MESSAGE_FIELDS}}
+
+} // namespace uORB
+'''
+                          .replace('{MAX_TOKENIZED_FIELD_LENGTH}', str(max_tokenized_field_length))
+                          .replace('{MAX_TOKENIZED_FIELD_LENGTH_MSG}', max_tokenized_field_length_msg)
+                          .replace('{MAX_UNTOKENIZED_FIELD_LENGTH}', str(max_untokenized_field_length))
+                          .replace('{MAX_NUM_ORB_IDS}', str(max_num_orb_ids))
+                          .replace('{MAX_NUM_ORB_ID_DEPENDENCIES}', str(max_num_orb_id_dependencies))
+                          .replace('{WINDOW_LENGTH}', str(window_length))
+                          .replace('{LOOKAHEAD_LENGTH}', str(lookahead_length))
+                          .replace('{DECOMPRESSED_MESSAGE_FIELDS}', ','.join(c_encode(x) for x in format_list))
+                          )
+
+
+def main():
+    parser = argparse.ArgumentParser(description='Generate compressed uorb topic fields')
+    parser.add_argument('-f', dest='file',
+                        help="json input files",
+                        nargs="+")
+    parser.add_argument('--source-output-file', dest='output_cpp',
+                        help='cpp output file to generate')
+    parser.add_argument('--header-output-file', dest='output_hpp',
+                        help='hpp output file to generate')
+    parser.add_argument('-v', '--verbose',
+                        action='store_true',
+                        help="verbose output")
+    args = parser.parse_args()
+
+    if args.file is not None:
+        definitions = parse_json_files(args.file)
+
+        # Get array of all field definitions
+        names = []
+        for definition in definitions:
+            names.extend(get_ordered_list_by_dependency(definitions[definition]['name'], definitions))
+        names.reverse()  # Dependent definitions must be after
+        assert len(names) == len(definitions)
+        for definition in definitions:  # sanity check
+            assert definitions[definition]['completed']
+        field_definitions, format_list = get_field_definitions(names, definitions)
+
+        # Compress
+        window_size = 8  # Larger value = better compression; memory requirement (for decompression): 2 ^ window_size
+        lookahead = 4
+        compressed_field_definitions = heatshrink_encode.encode(field_definitions, window_size, lookahead)
+
+        if args.verbose:
+            print(
+                f'Field definitions: size: {len(field_definitions)}, reduction from compression: {len(field_definitions) - len(compressed_field_definitions)}')
+
+        # Write cpp & hpp file
+        write_fields_to_cpp_file(args.output_cpp, compressed_field_definitions)
+        write_fields_to_hpp_file(args.output_hpp, definitions, window_size, lookahead, format_list)
+
+
+if __name__ == "__main__":
+    main()

Tools/msg/px_generate_uorb_topic_files.py

@@ -70,9 +70,8 @@ __license__ = "BSD"
 __email__ = "thomasgubler@gmail.com"
 
 
-TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em']
-TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em']
-OUTPUT_FILE_EXT = ['.h', '.cpp']
+TEMPLATE_FILE = ['msg.h.em', 'msg.cpp.em', 'uorb_idl_header.h.em', 'msg.json.em']
+TOPICS_LIST_TEMPLATE_FILE = ['uORBTopics.hpp.em', 'uORBTopics.cpp.em', None, None]
 INCL_DEFAULT = ['std_msgs:./msg/std_msgs']
 PACKAGE = 'px4'
 TOPICS_TOKEN = '# TOPICS '
@@ -105,7 +104,7 @@ def get_topics(filename):
     return result
 
 
-def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath):
+def generate_output_from_file(format_idx, filename, outputdir, package, templatedir, includepath, all_topics):
     """
     Converts a single .msg file to an uorb header/source file
     """
@@ -150,10 +149,12 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
     em_globals = {
         "name_snake_case": full_type_name_snake,
         "file_name_in": filename,
+        "file_base_name": file_base_name,
         "search_path": search_path,
         "msg_context": msg_context,
         "spec": spec,
         "topics": topics,
+        "all_topics": all_topics,
     }
 
     # Make sure output directory exists:
@@ -161,7 +162,11 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
         os.makedirs(outputdir)
 
     template_file = os.path.join(templatedir, TEMPLATE_FILE[format_idx])
-    output_file = os.path.join(outputdir, full_type_name_snake + OUTPUT_FILE_EXT[format_idx])
+    extension = os.path.splitext(os.path.splitext(TEMPLATE_FILE[format_idx])[0])[1]
+    if format_idx == 2:
+        output_file = os.path.join(outputdir, file_base_name + extension)
+    else:
+        output_file = os.path.join(outputdir, full_type_name_snake + extension)
 
     return generate_by_template(output_file, template_file, em_globals)
 
@@ -191,17 +196,13 @@ def generate_by_template(output_file, template_file, em_globals):
     return True
 
 
-def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
+def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir, all_topics):
     # generate cpp file with topics list
     filenames = []
     for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
         filenames.append(re.sub(r'(?<!^)(?=[A-Z])', '_', filename).lower())
 
-    topics = []
-    for msg_filename in files:
-        topics.extend(get_topics(msg_filename))
-
-    tl_globals = {"msgs": filenames, "topics": topics}
+    tl_globals = {"msgs": filenames, "all_topics": all_topics}
     tl_template_file = os.path.join(templatedir, template_filename)
     tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))
 
@@ -217,8 +218,10 @@ if __name__ == "__main__":
     parser = argparse.ArgumentParser(description='Convert msg files to uorb headers/sources')
     parser.add_argument('--headers', help='Generate header files', action='store_true')
     parser.add_argument('--sources', help='Generate source files', action='store_true')
+    parser.add_argument('--uorb-idl-header', help='Generate uORB compatible idl header', action='store_true')
+    parser.add_argument('--json', help='Generate json files', action='store_true')
     parser.add_argument('-f', dest='file',
-                        help="files to convert (use only without -d)",
+                        help="files to convert",
                         nargs="+")
     parser.add_argument('-i', dest="include_paths",
                         help='Additional Include Paths', nargs="*",
@@ -241,13 +244,22 @@ if __name__ == "__main__":
         generate_idx = 0
     elif args.sources:
         generate_idx = 1
+    elif args.uorb_idl_header:
+        generate_idx = 2
+    elif args.json:
+        generate_idx = 3
     else:
-        print('Error: either --headers or --sources must be specified')
+        print('Error: either --headers, --sources or --json must be specified')
         exit(-1)
     if args.file is not None:
+        all_topics = []
+        for msg_filename in args.file:
+            all_topics.extend(get_topics(msg_filename))
+        all_topics.sort()
+
         for f in args.file:
-            generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT)
+            generate_output_from_file(generate_idx, f, args.outputdir, args.package, args.templatedir, INCL_DEFAULT, all_topics)
 
         # Generate topics list header and source file
-        if os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
-            generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir)
+        if TOPICS_LIST_TEMPLATE_FILE[generate_idx] is not None and os.path.isfile(os.path.join(args.templatedir, TOPICS_LIST_TEMPLATE_FILE[generate_idx])):
+            generate_topics_list_file_from_files(args.file, args.outputdir, TOPICS_LIST_TEMPLATE_FILE[generate_idx], args.templatedir, all_topics)

Tools/msg/px_generate_uorb_topic_helper.py

@@ -171,6 +171,61 @@ def get_children_fields(base_type, search_path):
     return spec_temp.parsed_fields()
 
 
+def get_message_fields_str_for_message_hash(msg_fields, search_path):
+    """
+    Get all fields (including for nested types) in the form of:
+'''
+uint64 timestamp
+uint8 esc_count
+uint8 esc_online_flags
+EscReport[8] esc
+uint64 timestamp
+uint32 esc_errorcount
+int32 esc_rpm
+float32 esc_voltage
+uint16 failures
+int8 esc_power
+'''
+    """
+    all_fields_str = ''
+    for field in msg_fields:
+        if field.is_header:
+            continue
+
+        type_name = field.type
+        # detect embedded types
+        sl_pos = type_name.find('/')
+        if sl_pos >= 0:
+            type_name = type_name[sl_pos + 1:]
+
+        all_fields_str += type_name + ' ' + field.name + '\n'
+
+        if sl_pos >= 0: # nested type, add all nested fields
+            children_fields = get_children_fields(field.base_type, search_path)
+            all_fields_str += get_message_fields_str_for_message_hash(children_fields, search_path)
+
+    return all_fields_str
+
+
+def hash_32_fnv1a(data: str):
+    hash_val = 0x811c9dc5
+    prime = 0x1000193
+    for i in range(len(data)):
+        value = ord(data[i])
+        hash_val = hash_val ^ value
+        hash_val *= prime
+        hash_val &= 0xffffffff
+    return hash_val
+
+
+def get_message_hash(msg_fields, search_path):
+    """
+    Get a 32 bit message hash over all fields
+    """
+    all_fields_str = get_message_fields_str_for_message_hash(msg_fields, search_path)
+    return hash_32_fnv1a(all_fields_str)
+
+
 def add_padding_bytes(fields, search_path):
     """
     Add padding fields before the embedded types, at the end and calculate the

Tools/msg/templates/cdrstream/uorb_idl_header.h.em

@@ -0,0 +1,65 @@
+@{
+import genmsg.msgs
+import re
+
+from px_generate_uorb_topic_helper import * # this is in Tools/
+
+uorb_struct = '%s_s'%name_snake_case
+uorb_struct_upper = name_snake_case.upper()
+}@
+
+/****************************************************************
+
+  PX4 Cyclone DDS IDL to C Translator compatible idl struct
+  Source:  @file_name_in
+  Compatible with Cyclone DDS: V0.11.0
+
+*****************************************************************/
+#ifndef DDSC_IDL_UORB_@(uorb_struct_upper)_H
+#define DDSC_IDL_UORB_@(uorb_struct_upper)_H
+
+#include "dds/ddsc/dds_public_impl.h"
+#include "dds/cdr/dds_cdrstream.h"
+#include <uORB/topics/@(name_snake_case).h>
+
+@##############################
+@# Includes for dependencies
+@##############################
+@{
+for field in spec.parsed_fields():
+    if (not field.is_builtin):
+        if (not field.is_header):
+            (package, name) = genmsg.names.package_resource_name(field.base_type)
+            package = package or spec.package # convert '' to package
+
+            print('#include "%s.h"'%(name))
+            name = re.sub(r'(?<!^)(?=[A-Z])', '_', name).lower()
+            print('#include <uORB/topics/%s.h>'%(name))
+}@
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+@{
+for field in spec.parsed_fields():
+    if (not field.is_builtin):
+        if (not field.is_header):
+            (package, name) = genmsg.names.package_resource_name(field.base_type)
+            package = package or spec.package # convert '' to package
+
+            print('typedef px4_msg_%s px4_msg_px4__msg__%s;' % (name,name))
+}@
+
+
+
+typedef struct @uorb_struct px4_msg_@(file_base_name);
+
+extern const struct dds_cdrstream_desc px4_msg_@(file_base_name)_cdrstream_desc;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* DDSC_IDL_UORB_@(uorb_struct_upper)_H */

Tools/msg/templates/ucdr/msg.h.em

@@ -124,7 +124,7 @@ static inline constexpr int ucdr_topic_size_@(topic)()
 	return @(struct_size);
 }
 
-bool ucdr_serialize_@(topic)(const void* data, ucdrBuffer& buf, int64_t time_offset = 0)
+static inline bool ucdr_serialize_@(topic)(const void* data, ucdrBuffer& buf, int64_t time_offset = 0)
 {
 	const @(uorb_struct)& topic = *static_cast<const @(uorb_struct)*>(data);
 @{
@@ -153,7 +153,7 @@ for field_type, field_name, field_size, padding in fields:
 	return true;
 }
 
-bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic, int64_t time_offset = 0)
+static inline bool ucdr_deserialize_@(topic)(ucdrBuffer& buf, @(uorb_struct)& topic, int64_t time_offset = 0)
 {
 @{
 for field_type, field_name, field_size, padding in fields:

Tools/msg/templates/uorb/msg.cpp.em

@@ -14,6 +14,7 @@
 @#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
 @#  - search_path (dict) search paths for genmsg
 @#  - topics (List of String) topic names
+@#  - all_topics (List of String) all generated topic names (sorted)
 @###############################################
 /****************************************************************************
  *
@@ -57,9 +58,9 @@ from px_generate_uorb_topic_helper import * # this is in Tools/
 
 uorb_struct = '%s_s'%name_snake_case
 
+message_hash = get_message_hash(spec.parsed_fields(), search_path)
 sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
 struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
-topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field in sorted_fields]
 }@
 
 #include <inttypes.h>
@@ -72,12 +73,9 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field
 #include <lib/matrix/matrix/math.hpp>
 #include <lib/mathlib/mathlib.h>
 
-@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed"
-@# This is used for the logger
-constexpr char __orb_@(name_snake_case)_fields[] = "@( ";".join(topic_fields) );";
-
 @[for topic in topics]@
-ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<orb_id_size_t>(ORB_ID::@topic));
+static_assert(static_cast<orb_id_size_t>(ORB_ID::@topic) == @(all_topics.index(topic)), "ORB_ID index mismatch");
+ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast<orb_id_size_t>(ORB_ID::@topic));
 @[end for]
 
 void print_message(const orb_metadata *meta, const @uorb_struct& message)

Tools/msg/templates/uorb/msg.json.em

@@ -0,0 +1,50 @@
+@###############################################
+@#
+@# PX4 ROS compatible message source code
+@# generation for C++
+@#
+@# EmPy template for generating <msg>.h files
+@# Based on the original template for ROS
+@#
+@###############################################
+@# Start of Template
+@#
+@# Context:
+@#  - file_name_in (String) Source file
+@#  - spec (msggen.MsgSpec) Parsed specification of the .msg file
+@#  - search_path (dict) search paths for genmsg
+@#  - topics (List of String) topic names
+@#  - all_topics (List of String) all generated topic names (sorted)
+@###############################################
+
+@{
+import genmsg.msgs
+import json
+
+from px_generate_uorb_topic_helper import * # this is in Tools/
+
+uorb_struct = '%s_s'%name_snake_case
+
+sorted_fields = sorted(spec.parsed_fields(), key=sizeof_field_type, reverse=True)
+struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path)
+topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field in sorted_fields]
+
+dependencies = []
+for field in spec.parsed_fields():
+    if not field.is_header:
+        type_name = field.type
+        # detect embedded types
+        sl_pos = type_name.find('/')
+        if sl_pos >= 0: # nested type
+            dependencies.append(field.base_type)
+}@
+
+{
+@# join all msg files in one line e.g: "float[3] position;float[3] velocity;bool armed;"
+		"fields": @( json.dumps(bytearray(";".join(topic_fields)+";", 'utf-8').decode('unicode_escape')) ),
+		"fields_total_length": @(sum([len(convert_type(field.type))+1+len(field.name)+1 for field in sorted_fields])),
+		"orb_ids": @( json.dumps([ all_topics.index(topic) for topic in topics]) ),
+		"main_orb_id": @( all_topics.index(name_snake_case) if name_snake_case in all_topics else -1 ),
+		"dependencies": @( json.dumps(list(set(dependencies))) ),
+		"name": "@( spec.full_name )"
+}

Tools/msg/templates/uorb/uORBTopics.cpp.em

@@ -8,7 +8,7 @@
 @#
 @# Context:
 @#  - msgs (List) list of all msg files
-@#  - multi_topics (List) list of all multi-topic names
+@#  - all_topics (List) list of all topic names (sorted)
 @###############################################
 /****************************************************************************
  *
@@ -50,9 +50,7 @@ msg_names = list(set([mn.replace(".msg", "") for mn in msgs])) # set() filters d
 msg_names.sort()
 msgs_count = len(msg_names)
 
-topic_names = list(set(topics)) # set() filters duplicates
-topic_names.sort()
-topics_count = len(topics)
+topics_count = len(all_topics)
 
 }@
 @[for msg_name in msg_names]@
@@ -60,8 +58,8 @@ topics_count = len(topics)
 @[end for]
 
 const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = {
-@[for idx, topic_name in enumerate(topic_names, 1)]@
-	ORB_ID(@(topic_name))@[if idx != topic_names], @[end if]
+@[for idx, topic_name in enumerate(all_topics, 1)]@
+	ORB_ID(@(topic_name))@[if idx != all_topics], @[end if]
 @[end for]
 };
 

Tools/msg/templates/uorb/uORBTopics.hpp.em

@@ -7,7 +7,8 @@
 @# Start of Template
 @#
 @# Context:
-@#  - topics (List) list of all topic names
+@#  - msgs (List) list of all msg files
+@#  - all_topics (List) list of all topic names (sorted)
 @###############################################
 /****************************************************************************
  *
@@ -43,9 +44,7 @@
  ****************************************************************************/
 
 @{
-topics_count = len(topics)
-topic_names_all = list(set(topics)) # set() filters duplicates
-topic_names_all.sort()
+topics_count = len(all_topics)
 }@
 
 #pragma once
@@ -63,7 +62,7 @@ static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
 extern const struct orb_metadata *const *orb_get_topics() __EXPORT;
 
 enum class ORB_ID : orb_id_size_t {
-@[for idx, topic_name in enumerate(topic_names_all)]@
+@[for idx, topic_name in enumerate(all_topics)]@
 	@(topic_name) = @(idx),
 @[end for]
 	INVALID

Tools/px4events/srcparser.py

@@ -250,6 +250,22 @@ class SourceParser(object):
                             event.group = "arming_check"
                         event.prepend_arguments([('navigation_mode_group_t', 'modes'),
                                 ('uint8_t', 'health_component_index')])
+                    elif call in ['reporter.healthFailureExt', 'reporter.armingCheckFailureExt']: # from ROS2
+                        assert len(args_split) == num_args + 3, \
+                            "Unexpected Number of arguments for: {:}, {:}".format(args_split, num_args)
+                        m = self.re_event_id.search(args_split[0])
+                        if m:
+                            _, event_name = m.group(1, 2)
+                        else:
+                            raise Exception("Could not extract event ID from {:}".format(args_split[0]))
+                        event.name = event_name
+                        event.message = args_split[2][1:-1]
+                        if 'health' in call:
+                            event.group = "health"
+                        else:
+                            event.group = "arming_check"
+                        event.prepend_arguments([('navigation_mode_group_t', 'modes'),
+                                ('uint8_t', 'health_component_index')])
                     else:
                         raise Exception("unknown event method call: {}, args: {}".format(call, args))
 

Tools/px_process_events.py

@@ -55,6 +55,10 @@ def main():
                         metavar="PATH",
                         nargs='*',
                         help="one or more paths/files to source files to scan for events")
+    parser.add_argument("-b", "--base-path",
+                        default="",
+                        metavar="PATH",
+                        help="path prefix for everything passed with --src-path")
     parser.add_argument("-j", "--json",
                         nargs='?',
                         const="events.json",
@@ -84,7 +88,7 @@ def main():
     # canonicalize + remove duplicates
     src_paths = set()
     for path in args.src_path:
-        src_paths.add(os.path.realpath(path))
+        src_paths.add(os.path.realpath(os.path.join(args.base_path, path)))
 
     if not scanner.ScanDir(src_paths, parser):
         sys.exit(1)

Tools/setup/arch.sh

@@ -1,7 +1,7 @@
 #! /usr/bin/env bash
 
 ## Bash script to setup PX4 development environment on Arch Linux.
-## Tested on Manjaro 20.2.1.
+## Tested on Arch 2023-03-01
 ##
 ## Installs:
 ## - Common dependencies and tools for nuttx, jMAVSim
@@ -50,6 +50,7 @@ sudo pacman -Sy --noconfirm --needed \
 	cmake \
 	cppcheck \
 	doxygen \
+	fuse2 \
 	gdb \
 	git \
 	gnutls \
@@ -66,7 +67,7 @@ sudo pacman -Sy --noconfirm --needed \
 
 # Python dependencies
 echo "Installing PX4 Python3 dependencies"
-pip install --user -r ${DIR}/requirements.txt
+pip install --break-system-packages -r ${DIR}/${REQUIREMENTS_FILE}
 
 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then
@@ -74,45 +75,17 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo "Installing NuttX dependencies"
 
 	sudo pacman -S --noconfirm --needed \
-		gperf \
-		vim \
+		arm-none-eabi-gcc \
+		arm-none-eabi-newlib \
 		;
 
 	if [ ! -z "$USER" ]; then
 		# add user to dialout group (serial port access)
-		sudo usermod -aG uucp $USER
+		sudo echo usermod -aG uucp $USER
 	fi
 
-	# remove modem manager (interferes with PX4 serial port usage)
-	sudo pacman -R modemmanager --noconfirm
-
-	# arm-none-eabi-gcc
-	NUTTX_GCC_VERSION="10-2020-q4-major"
-	NUTTX_GCC_VERSION_SHORT="10-2020q4"
-
-	source $HOME/.profile # load changed path for the case the script is reran before relogin
-	if [ $(which arm-none-eabi-gcc) ]; then
-		GCC_VER_STR=$(arm-none-eabi-gcc --version)
-		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
-	fi
-
-	if [[ "$GCC_FOUND_VER" == "1" ]]; then
-		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
-
-	else
-		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-x86_64-linux.tar.bz2 && \
-			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
-
-		# add arm-none-eabi-gcc to user's PATH
-		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
-
-		if grep -Fxq "$exportline" $HOME/.profile; then
-			echo "${NUTTX_GCC_VERSION} path already set.";
-		else
-			echo $exportline >> $HOME/.profile;
-		fi
-	fi
+	# don't run modem manager (interferes with PX4 serial port usage)
+	sudo systemctl disable --now ModemManager
 fi
 
 # Simulation tools
@@ -122,8 +95,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 
 	# java (jmavsim)
 	sudo pacman -S --noconfirm --needed \
-		ant \
-		jdk-openjdk \
+		ant
 		;
 
 	# Gazebo setup
@@ -161,5 +133,5 @@ fi
 
 if [[ $INSTALL_NUTTX == "true" ]]; then
 	echo
-	echo "Reboot or logout, login computer before attempting to build NuttX targets"
+	echo "Reboot or logout, login computer before attempting to flash NuttX targets"
 fi

Tools/setup/macos.sh

@@ -34,6 +34,7 @@ if [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
 	brew tap PX4/px4
 	brew reinstall px4-dev
 	brew install ncurses
+	brew install python-tk
 else
 	if brew ls --versions px4-dev > /dev/null; then
 		echo "px4-dev already installed"
@@ -42,6 +43,7 @@ else
 		brew tap PX4/px4
 		brew install px4-dev
 		brew install ncurses
+		brew install python-tk
 	fi
 fi
 

Tools/setup/requirements.txt

@@ -2,7 +2,7 @@ argcomplete
 argparse>=1.2
 cerberus
 coverage
-empy>=3.3
+empy==3.3.4
 future
 jinja2>=2.8
 jsonschema

Tools/setup/ubuntu.sh

@@ -155,7 +155,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 
 	if [ -n "$USER" ]; then
 		# add user to dialout group (serial port access)
-		sudo usermod -a -G dialout $USER
+		sudo usermod -aG dialout $USER
 	fi
 
 	# arm-none-eabi-gcc
@@ -165,7 +165,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	source $HOME/.profile # load changed path for the case the script is reran before relogin
 	if [ $(which arm-none-eabi-gcc) ]; then
 		GCC_VER_STR=$(arm-none-eabi-gcc --version)
-		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
+		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}" || true)
 	fi
 
 	if [[ "$GCC_FOUND_VER" == "1" ]]; then

Tools/simulation/gz/models/omnicopter/model.config

@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>Omnicopter</name>
-  <version>1.0</version>
-  <sdf version='1.9'>model.sdf</sdf>
-
-  <author>
-   <name>Jaeyoung Lim</name>
-   <email>jalim@ethz.ch</email>
-  </author>
-
-  <description>
-    Omnicopter model for over actuated system
-  </description>
-</model>

Tools/simulation/gz/models/omnicopter/model.sdf

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <include>
-      <name>omnicopter</name>
-      <pose>0 0 0 0 0 0</pose>
-      <uri>https://fuel.gazebosim.org/1.0/PX4/models/Omnicopter</uri>
-    </include>
-</sdf>

Tools/simulation/gz/models/px4vision/model.config

@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>PX4 Vision</name>
-  <version>1.0</version>
-  <sdf version='1.9'>model.sdf</sdf>
-
-  <author>
-   <name>Jaeyoung Lim</name>
-   <email>jaeyoung@auterion.com</email>
-  </author>
-
-  <description>
-    This is a model of the Holybro PX4 Vision
-  </description>
-</model>

Tools/simulation/gz/models/px4vision/model.sdf

@@ -1,10 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <model name='px4vision'>
-  <include>
-    <uri>
-      https://fuel.gazebosim.org/1.0/PX4/models/PX4 Vision
-    </uri>
-  </include>
-  </model>
-</sdf>

Tools/simulation/gz/models/rc_cessna/meshes/elevators.dae

@@ -1,165 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-    <asset>
-        <contributor>
-            <authoring_tool>SketchUp 15.3.331</authoring_tool>
-        </contributor>
-        <created>2015-05-26T23:41:25Z</created>
-        <modified>2015-05-26T23:41:25Z</modified>
-        <unit meter="0.0254" name="inch" />
-        <up_axis>Z_UP</up_axis>
-    </asset>
-    <library_visual_scenes>
-        <visual_scene id="ID1">
-            <node name="SketchUp">
-                <node id="ID2" name="instance_0">
-                    <matrix>0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 -0 0 1 -19.50896 0 0 0 1</matrix>
-                    <instance_node url="#ID3" />
-                </node>
-            </node>
-        </visual_scene>
-    </library_visual_scenes>
-    <library_nodes>
-        <node id="ID3" name="ske2A3">
-            <node id="ID4" name="group_0">
-                <matrix>1.963935 -3.469447e-018 0 1.237124 3.469447e-018 1.963935 0 258.791 0 0 1.963935 40.4385 0 0 0 1</matrix>
-                <instance_geometry url="#ID5">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID6">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                            <instance_material symbol="Material3" target="#ID11">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
-                </instance_geometry>
-            </node>
-            <node id="ID15" name="group_1">
-                <matrix>1.963935 -4.336809e-018 0 -68.35112 4.336809e-018 1.963935 0 258.791 0 0 1.963935 40.4385 0 0 0 1</matrix>
-                <instance_geometry url="#ID16">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID6">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                            <instance_material symbol="Material3" target="#ID11">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
-                </instance_geometry>
-            </node>
-        </node>
-    </library_nodes>
-    <library_geometries>
-        <geometry id="ID5">
-            <mesh>
-                <source id="ID8">
-                    <float_array id="ID13" count="126">29.29134 15.47244 1.496063 -2.220446e-016 15.47244 0.2362205 29.29134 15.47244 0.1574803 29.29134 15.47244 0.1574803 -2.220446e-016 15.47244 0.2362205 29.29134 15.47244 1.496063 0.07874016 15.55118 1.574803 -2.220446e-016 15.47244 0.2362205 29.29134 15.47244 1.496063 29.29134 15.47244 1.496063 -2.220446e-016 15.47244 0.2362205 0.07874016 15.55118 1.574803 29.29134 15.47244 0.1574803 -2.220446e-016 15.47244 0.2362205 0.2362205 17.71654 0.2362205 0.2362205 17.71654 0.2362205 -2.220446e-016 15.47244 0.2362205 29.29134 15.47244 0.1574803 0.2362205 17.71654 0.2362205 -2.220446e-016 15.47244 0.2362205 0.07874016 15.55118 1.574803 0.07874016 15.55118 1.574803 -2.220446e-016 15.47244 0.2362205 0.2362205 17.71654 0.2362205 29.29134 15.47244 1.496063 0.2362205 17.71654 1.574803 0.07874016 15.55118 1.574803 0.07874016 15.55118 1.574803 0.2362205 17.71654 1.574803 29.29134 15.47244 1.496063 29.33071 23.14961 1.220472 29.33071 23.14961 1.220472 0.2362205 17.71654 1.574803 0.2362205 17.71654 1.574803 3.779528 26.81102 1.220472 3.779528 26.81102 1.220472 3.779528 26.81102 1.220472 3.779528 26.81102 1.220472 3.779528 26.81102 1.220472 3.779528 26.81102 1.220472 29.33071 23.14961 1.220472 29.33071 23.14961 1.220472</float_array>
-                    <technique_common>
-                        <accessor count="42" source="#ID13" stride="3">
-                            <param name="X" type="float" />
-                            <param name="Y" type="float" />
-                            <param name="Z" type="float" />
-                        </accessor>
-                    </technique_common>
-                </source>
-                <source id="ID9">
-                    <float_array id="ID14" count="126">8.832897e-019 -1 0 8.832897e-019 -1 0 8.832897e-019 -1 0 -8.832897e-019 1 -0 -8.832897e-019 1 -0 -8.832897e-019 1 -0 -0.002532054 -0.9982624 0.05887026 -0.002532054 -0.9982624 0.05887026 -0.002532054 -0.9982624 0.05887026 0.002532054 0.9982624 -0.05887026 0.002532054 0.9982624 -0.05887026 0.002532054 0.9982624 -0.05887026 0.007390569 0.1304752 -0.991424 -0.002688162 0.0002829644 -0.9999963 0.004389455 0.04876336 -0.9988007 -0.004389455 -0.04876336 0.9988007 0.002688162 -0.0002829644 0.9999963 -0.007390569 -0.1304752 0.991424 -0.9752032 0.2211027 0.009609949 -0.9931459 0.1045417 0.05227084 -0.9949927 0.093762 0.03461586 0.9949927 -0.093762 -0.03461586 0.9931459 -0.1045417 -0.05227084 0.9752032 -0.2211027 -0.009609949 0.005110827 0.03434514 0.999397 0.003976796 0.01640632 0.9998575 0.00269488 -0.0001959912 0.9999963 -0.00269488 0.0001959912 -0.9999963 -0.003976796 -0.01640632 -0.9998575 -0.005110827 -0.03434514 -0.999397 0.009196932 0.1303557 -0.9914246 -0.009196932 -0.1303557 0.9914246 -0.9758321 0.2185214 -5.056631e-018 0.9758321 -0.2185214 5.056631e-018 0.00548519 0.03663055 0.9993138 -0.00548519 -0.03663055 -0.9993138 0.0146102 0.1019572 -0.9946815 -0.0146102 -0.1019572 0.9946815 -0.9317774 0.3630302 0 0.9317774 -0.3630302 -0 0.00513686 0.03584755 0.9993441 -0.00513686 -0.03584755 -0.9993441</float_array>
-                    <technique_common>
-                        <accessor count="42" source="#ID14" stride="3">
-                            <param name="X" type="float" />
-                            <param name="Y" type="float" />
-                            <param name="Z" type="float" />
-                        </accessor>
-                    </technique_common>
-                </source>
-                <vertices id="ID10">
-                    <input semantic="POSITION" source="#ID8" />
-                    <input semantic="NORMAL" source="#ID9" />
-                </vertices>
-                <triangles count="13" material="Material2">
-                    <input offset="0" semantic="VERTEX" source="#ID10" />
-                    <p>0 1 2 6 7 8 6 7 8 12 13 14 18 19 20 0 1 2 24 25 26 30 12 14 18 20 32 24 34 25 30 14 36 38 18 32 40 34 24</p>
-                </triangles>
-                <triangles count="13" material="Material3">
-                    <input offset="0" semantic="VERTEX" source="#ID10" />
-                    <p>3 4 5 9 10 11 9 10 11 15 16 17 21 22 23 3 4 5 27 28 29 15 17 31 33 21 23 28 35 29 37 15 31 33 23 39 29 35 41</p>
-                </triangles>
-            </mesh>
-        </geometry>
-        <geometry id="ID16">
-            <mesh>
-                <source id="ID17">
-                    <float_array id="ID20" count="144">34.13386 15.47244 0.2362205 4.80315 15.47244 0.1574803 33.89764 17.6378 0.2362205 33.89764 17.6378 0.2362205 4.80315 15.47244 0.1574803 34.13386 15.47244 0.2362205 30.31496 26.73228 1.220472 30.31496 26.73228 1.220472 33.89764 17.6378 1.574803 34.13386 15.47244 0.2362205 33.89764 17.6378 0.2362205 33.89764 17.6378 0.2362205 34.13386 15.47244 0.2362205 33.89764 17.6378 1.574803 34.05512 15.55118 1.574803 4.80315 15.47244 0.1574803 34.13386 15.47244 0.2362205 34.13386 15.47244 0.2362205 4.80315 15.47244 0.1574803 34.05512 15.55118 1.574803 34.05512 15.55118 1.574803 4.80315 15.47244 0.1574803 34.13386 15.47244 0.2362205 34.13386 15.47244 0.2362205 4.80315 15.47244 0.1574803 34.05512 15.55118 1.574803 30.31496 26.73228 1.220472 30.31496 26.73228 1.220472 4.88189 23.22835 1.220472 4.88189 23.22835 1.220472 34.05512 15.55118 1.574803 34.05512 15.55118 1.574803 34.05512 15.55118 1.574803 4.80315 15.47244 1.496063 4.80315 15.47244 0.1574803 4.80315 15.47244 0.1574803 4.80315 15.47244 1.496063 34.05512 15.55118 1.574803 33.89764 17.6378 1.574803 30.31496 26.73228 1.220472 4.88189 23.22835 1.220472 4.88189 23.22835 1.220472 30.31496 26.73228 1.220472 33.89764 17.6378 1.574803 34.05512 15.55118 1.574803 4.80315 15.47244 1.496063 4.80315 15.47244 1.496063 34.05512 15.55118 1.574803</float_array>
-                    <technique_common>
-                        <accessor count="48" source="#ID20" stride="3">
-                            <param name="X" type="float" />
-                            <param name="Y" type="float" />
-                            <param name="Z" type="float" />
-                        </accessor>
-                    </technique_common>
-                </source>
-                <source id="ID18">
-                    <float_array id="ID21" count="144">0.002684554 0.0002928604 -0.9999964 -0.01473734 0.12288 -0.9923121 -0.000787119 0.04689963 -0.9988993 0.000787119 -0.04689963 0.9988993 0.01473734 -0.12288 0.9923121 -0.002684554 -0.0002928604 0.9999964 -0.007277174 0.110315 -0.99387 0.007277174 -0.110315 0.99387 0.9725871 0.2323356 0.009718386 0.9955834 0.08736469 0.03436596 0.9719196 0.2353134 -1.202976e-016 -0.9719196 -0.2353134 1.202976e-016 -0.9955834 -0.08736469 -0.03436596 -0.9725871 -0.2323356 -0.009718386 -0.0001576182 -0.9982749 0.05871278 -0.0001576182 -0.9982749 0.05871278 -0.0001576182 -0.9982749 0.05871278 0.0001576182 0.9982749 -0.05871278 0.0001576182 0.9982749 -0.05871278 0.0001576182 0.9982749 -0.05871278 -0.0001576182 -0.9982749 0.05871278 -0.0001576182 -0.9982749 0.05871278 -0.0001576182 -0.9982749 0.05871278 0.0001576182 0.9982749 -0.05871278 0.0001576182 0.9982749 -0.05871278 0.0001576182 0.9982749 -0.05871278 0.9304084 0.3665245 -2.676506e-016 -0.9304084 -0.3665245 2.676506e-016 -0.01872985 0.1359493 -0.9905387 0.01872985 -0.1359493 0.9905387 0.9957011 0.07514725 0.05415023 -0.9957011 -0.07514725 -0.05415023 0.00269178 -0.9999964 0 0.00269178 -0.9999964 0 0.00269178 -0.9999964 0 -0.00269178 0.9999964 -0 -0.00269178 0.9999964 -0 -0.00269178 0.9999964 -0 -0.003787425 0.01626622 0.9998605 -0.005087832 0.03692966 0.9993049 -0.005301222 0.03582462 0.999344 0.005301222 -0.03582462 -0.999344 0.005087832 -0.03692966 -0.9993049 0.003787425 -0.01626622 -0.9998605 -0.002691234 -0.000203112 0.9999964 -0.005229389 0.03392175 0.9994108 0.005229389 -0.03392175 -0.9994108 0.002691234 0.000203112 -0.9999964</float_array>
-                    <technique_common>
-                        <accessor count="48" source="#ID21" stride="3">
-                            <param name="X" type="float" />
-                            <param name="Y" type="float" />
-                            <param name="Z" type="float" />
-                        </accessor>
-                    </technique_common>
-                </source>
-                <vertices id="ID19">
-                    <input semantic="POSITION" source="#ID17" />
-                    <input semantic="NORMAL" source="#ID18" />
-                </vertices>
-                <triangles count="13" material="Material2">
-                    <input offset="0" semantic="VERTEX" source="#ID19" />
-                    <p>0 1 2 2 1 6 8 9 10 14 15 16 20 21 22 26 8 10 6 1 28 8 30 9 32 33 34 32 33 34 38 39 40 44 38 45 38 40 45</p>
-                </triangles>
-                <triangles count="13" material="Material3">
-                    <input offset="0" semantic="VERTEX" source="#ID19" />
-                    <p>3 4 5 7 4 3 11 12 13 17 18 19 23 24 25 11 13 27 29 4 7 12 31 13 35 36 37 35 36 37 41 42 43 46 43 47 46 41 43</p>
-                </triangles>
-            </mesh>
-        </geometry>
-    </library_geometries>
-    <library_materials>
-        <material id="ID6" name="Color_003">
-            <instance_effect url="#ID7" />
-        </material>
-        <material id="ID11" name="__White_">
-            <instance_effect url="#ID12" />
-        </material>
-    </library_materials>
-    <library_effects>
-        <effect id="ID7">
-            <profile_COMMON>
-                <technique sid="COMMON">
-                    <lambert>
-                        <diffuse>
-                            <color>0.6666667 0.6666667 0.6666667 1</color>
-                        </diffuse>
-                    </lambert>
-                </technique>
-            </profile_COMMON>
-        </effect>
-        <effect id="ID12">
-            <profile_COMMON>
-                <technique sid="COMMON">
-                    <lambert>
-                        <diffuse>
-                            <color>1 1 1 1</color>
-                        </diffuse>
-                    </lambert>
-                </technique>
-            </profile_COMMON>
-        </effect>
-    </library_effects>
-    <scene>
-        <instance_visual_scene url="#ID1" />
-    </scene>
-</COLLADA>

Tools/simulation/gz/models/rc_cessna/meshes/left_aileron.dae

@@ -1,114 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-    <asset>
-        <contributor>
-            <authoring_tool>SketchUp 15.3.331</authoring_tool>
-        </contributor>
-        <created>2015-05-26T23:42:29Z</created>
-        <modified>2015-05-26T23:42:29Z</modified>
-        <unit meter="0.0254" name="inch" />
-        <up_axis>Z_UP</up_axis>
-    </asset>
-    <library_visual_scenes>
-        <visual_scene id="ID1">
-            <node name="SketchUp">
-                <node id="ID2" name="instance_0">
-                    <matrix>0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 -0 0 1 -19.50896 0 0 0 1</matrix>
-                    <instance_node url="#ID3" />
-                </node>
-            </node>
-        </visual_scene>
-    </library_visual_scenes>
-    <library_nodes>
-        <node id="ID3" name="ske2A3">
-            <node id="ID4" name="group_0">
-                <matrix>1.963935 -1.149254e-016 0 -217.1153 1.149254e-016 1.963935 0 16.85582 0 0 1.963935 19.40739 0 0 0 1</matrix>
-                <instance_geometry url="#ID5">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID6">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                            <instance_material symbol="Material3" target="#ID11">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
-                </instance_geometry>
-            </node>
-        </node>
-    </library_nodes>
-    <library_geometries>
-        <geometry id="ID5">
-            <mesh>
-                <source id="ID8">
-                    <float_array id="ID13" count="120">173.5827 65.35433 28.34646 173.5433 59.72441 29.01575 162.197 60.69059 28.48352 162.197 60.69059 28.48352 173.5433 59.72441 29.01575 173.5827 65.35433 28.34646 162.1654 66.5748 27.75591 162.1654 66.5748 27.75591 182.126 64.29134 28.77953 182.126 64.29134 28.77953 173.5827 65.35433 28.34646 162.1654 66.5748 27.75591 173.5433 59.76378 30.43307 173.5433 59.76378 30.43307 162.1654 66.5748 27.75591 173.5827 65.35433 28.34646 182.1654 58.62205 31.06299 182.126 64.29134 28.77953 182.126 64.29134 28.77953 182.1654 58.62205 31.06299 182.1654 58.62205 29.44882 182.1654 58.62205 29.44882 162.1654 60.7874 29.93396 162.1654 60.7874 29.93396 191.0236 57.48031 31.22047 191.0236 57.48031 31.22047 191.063 63.07087 29.29134 191.063 63.07087 29.29134 191.063 63.07087 29.29134 191.063 63.07087 29.29134 191.0236 57.48031 29.96063 191.0236 57.48031 29.96063 207.0079 55.62992 31.77165 207.0079 55.62992 31.77165 207.0472 60.90551 30.11811 207.0472 60.90551 30.11811 207.0472 60.90551 30.11811 207.0472 60.90551 30.11811 207.0079 55.62992 30.55118 207.0079 55.62992 30.55118</float_array>
-                    <technique_common>
-                        <accessor count="40" source="#ID13" stride="3">
-                            <param name="X" type="float" />
-                            <param name="Y" type="float" />
-                            <param name="Z" type="float" />
-                        </accessor>
-                    </technique_common>
-                </source>
-                <source id="ID9">
-                    <float_array id="ID14" count="120">0.03634531 -0.1188937 -0.9922416 0.03587327 -0.1179703 -0.9923689 0.03771441 -0.121225 -0.9919083 -0.03771441 0.121225 0.9919083 -0.03587327 0.1179703 0.9923689 -0.03634531 0.1188937 0.9922416 0.0382097 -0.1224293 -0.9917414 -0.0382097 0.1224293 0.9917414 0.03775177 -0.1171551 -0.9923958 -0.03775177 0.1171551 0.9923958 -0.01224891 0.3540955 0.9351291 -0.00989876 0.3514344 0.9361602 -0.01674714 0.3501002 0.9365625 0.01674714 -0.3501002 -0.9365625 0.00989876 -0.3514344 -0.9361602 0.01224891 -0.3540955 -0.9351291 0.01322657 0.3694758 0.9291462 0.006999627 0.365608 0.9307426 -0.006999627 -0.365608 -0.9307426 -0.01322657 -0.3694758 -0.9291462 0.03836032 -0.1173106 -0.9923541 -0.03836032 0.1173106 0.9923541 -0.009366748 0.3522106 0.9358739 0.009366748 -0.3522106 -0.9358739 0.005662451 0.3347006 0.9423075 -0.005662451 -0.3347006 -0.9423075 0.03866059 -0.1186285 -0.9921858 -0.03866059 0.1186285 0.9921858 -0.004253652 0.3235305 0.9462082 0.004253652 -0.3235305 -0.9462082 0.03750441 -0.1151827 -0.9926361 -0.03750441 0.1151827 0.9926361 -0.005596535 0.305409 0.9522048 0.005596535 -0.305409 -0.9522048 0.02892951 -0.08956398 -0.9955608 -0.02892951 0.08956398 0.9955608 -0.008830529 0.2991342 0.9541702 0.008830529 -0.2991342 -0.9541702 0.02731657 -0.08198631 -0.996259 -0.02731657 0.08198631 0.996259</float_array>
-                    <technique_common>
-                        <accessor count="40" source="#ID14" stride="3">
-                            <param name="X" type="float" />
-                            <param name="Y" type="float" />
-                            <param name="Z" type="float" />
-                        </accessor>
-                    </technique_common>
-                </source>
-                <vertices id="ID10">
-                    <input semantic="POSITION" source="#ID8" />
-                    <input semantic="NORMAL" source="#ID9" />
-                </vertices>
-                <triangles count="16" material="Material2">
-                    <input offset="0" semantic="VERTEX" source="#ID10" />
-                    <p>0 1 2 0 2 6 8 1 0 10 11 12 16 17 10 20 1 8 12 11 22 16 10 12 24 17 16 26 20 8 28 17 24 26 30 20 32 28 24 34 30 26 36 28 32 34 38 30</p>
-                </triangles>
-                <triangles count="16" material="Material3">
-                    <input offset="0" semantic="VERTEX" source="#ID10" />
-                    <p>3 4 5 7 3 5 5 4 9 13 14 15 15 18 19 9 4 21 23 14 13 13 15 19 19 18 25 9 21 27 25 18 29 21 31 27 25 29 33 27 31 35 33 29 37 31 39 35</p>
-                </triangles>
-            </mesh>
-        </geometry>
-    </library_geometries>
-    <library_materials>
-        <material id="ID6" name="__White_">
-            <instance_effect url="#ID7" />
-        </material>
-        <material id="ID11" name="__Gray_">
-            <instance_effect url="#ID12" />
-        </material>
-    </library_materials>
-    <library_effects>
-        <effect id="ID7">
-            <profile_COMMON>
-                <technique sid="COMMON">
-                    <lambert>
-                        <diffuse>
-                            <color>1 1 1 1</color>
-                        </diffuse>
-                    </lambert>
-                </technique>
-            </profile_COMMON>
-        </effect>
-        <effect id="ID12">
-            <profile_COMMON>
-                <technique sid="COMMON">
-                    <lambert>
-                        <diffuse>
-                            <color>0.5019608 0.5019608 0.5019608 1</color>
-                        </diffuse>
-                    </lambert>
-                </technique>
-            </profile_COMMON>
-        </effect>
-    </library_effects>
-    <scene>
-        <instance_visual_scene url="#ID1" />
-    </scene>
-</COLLADA>

Tools/simulation/gz/models/rc_cessna/meshes/left_flap.dae

@@ -1,114 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-    <asset>
-        <contributor>
-            <authoring_tool>SketchUp 15.3.331</authoring_tool>
-        </contributor>
-        <created>2015-05-26T23:42:19Z</created>
-        <modified>2015-05-26T23:42:19Z</modified>
-        <unit meter="0.0254" name="inch" />
-        <up_axis>Z_UP</up_axis>
-    </asset>
-    <library_visual_scenes>
-        <visual_scene id="ID1">
-            <node name="SketchUp">
-                <node id="ID2" name="instance_0">
-                    <matrix>0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 -0 0 1 -19.50896 0 0 0 1</matrix>
-                    <instance_node url="#ID3" />
-                </node>
-            </node>
-        </visual_scene>
-    </library_visual_scenes>
-    <library_nodes>
-        <node id="ID3" name="ske2A3">
-            <node id="ID4" name="group_0">
-                <matrix>1.963935 -1.144917e-016 0 -217.1153 1.144917e-016 1.963935 0 16.85582 0 0 1.963935 19.40739 0 0 0 1</matrix>
-                <instance_geometry url="#ID5">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID6">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                            <instance_material symbol="Material3" target="#ID11">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
-                </instance_geometry>
-            </node>
-        </node>
-    </library_nodes>
-    <library_geometries>
-        <geometry id="ID5">
-            <mesh>
-                <source id="ID8">
-                    <float_array id="ID13" count="96">137.2835 66.92913 26.77165 121.9291 59.25197 27.79528 121.9291 66.92913 26.25984 121.9291 66.92913 26.25984 121.9291 59.25197 27.79528 137.2835 66.92913 26.77165 137.2835 59.25197 29.96063 137.2835 66.92913 26.77165 121.9291 66.92913 26.25984 121.9291 66.92913 26.25984 137.2835 66.92913 26.77165 137.2835 59.25197 29.96063 137.2835 59.25197 27.79528 137.2835 59.25197 27.79528 121.9291 59.25197 29.33071 121.9291 59.25197 29.33071 152.3228 59.25197 30.23622 152.3228 59.25197 30.23622 152.3622 66.92913 27.44094 152.3622 66.92913 27.44094 152.3622 66.92913 27.44094 152.3622 66.92913 27.44094 152.3228 59.25197 28.4252 152.3228 59.25197 28.4252 162.1654 59.25197 30.51181 162.1654 59.25197 30.51181 162.1654 66.5748 27.75591 162.1654 66.5748 27.75591 162.1654 66.5748 27.75591 162.1654 66.5748 27.75591 162.2047 59.25197 28.66142 162.2047 59.25197 28.66142</float_array>
-                    <technique_common>
-                        <accessor count="32" source="#ID13" stride="3">
-                            <param name="X" type="float" />
-                            <param name="Y" type="float" />
-                            <param name="Z" type="float" />
-                        </accessor>
-                    </technique_common>
-                </source>
-                <source id="ID9">
-                    <float_array id="ID14" count="96">0.02682621 -0.1417739 -0.9895355 0.02297159 -0.1771324 -0.9839189 0.03266858 -0.1960115 -0.9800573 -0.03266858 0.1960115 0.9800573 -0.02297159 0.1771324 0.9839189 -0.02682621 0.1417739 0.9895355 -0.02493687 0.3815814 0.9239988 -0.02780814 0.3770153 0.9257895 -0.03575652 0.3750234 0.9263255 0.03575652 -0.3750234 -0.9263255 0.02780814 -0.3770153 -0.9257895 0.02493687 -0.3815814 -0.9239988 0.02165175 -0.1314105 -0.9910916 -0.02165175 0.1314105 0.9910916 -0.03806375 0.3711215 0.9278038 0.03806375 -0.3711215 -0.9278038 -0.03001613 0.3487806 0.9367236 0.03001613 -0.3487806 -0.9367236 0.03483823 -0.1279932 -0.991163 -0.03483823 0.1279932 0.991163 -0.03222275 0.344211 0.9383392 0.03222275 -0.344211 -0.9383392 0.03366092 -0.1263005 -0.9914208 -0.03366092 0.1263005 0.9914208 -0.02130276 0.3477379 0.9373497 0.02130276 -0.3477379 -0.9373497 0.02520877 -0.1245398 -0.9918943 -0.02520877 0.1245398 0.9918943 -0.01733589 0.3521731 0.9357743 0.01733589 -0.3521731 -0.9357743 0.02371739 -0.1225611 -0.9921775 -0.02371739 0.1225611 0.9921775</float_array>
-                    <technique_common>
-                        <accessor count="32" source="#ID14" stride="3">
-                            <param name="X" type="float" />
-                            <param name="Y" type="float" />
-                            <param name="Z" type="float" />
-                        </accessor>
-                    </technique_common>
-                </source>
-                <vertices id="ID10">
-                    <input semantic="POSITION" source="#ID8" />
-                    <input semantic="NORMAL" source="#ID9" />
-                </vertices>
-                <triangles count="12" material="Material2">
-                    <input offset="0" semantic="VERTEX" source="#ID10" />
-                    <p>0 1 2 6 7 8 12 1 0 6 8 14 16 7 6 18 12 0 20 7 16 18 22 12 24 20 16 26 22 18 24 28 20 30 22 26</p>
-                </triangles>
-                <triangles count="12" material="Material3">
-                    <input offset="0" semantic="VERTEX" source="#ID10" />
-                    <p>3 4 5 9 10 11 5 4 13 15 9 11 11 10 17 5 13 19 17 10 21 13 23 19 17 21 25 19 23 27 21 29 25 27 23 31</p>
-                </triangles>
-            </mesh>
-        </geometry>
-    </library_geometries>
-    <library_materials>
-        <material id="ID6" name="__White_">
-            <instance_effect url="#ID7" />
-        </material>
-        <material id="ID11" name="__Gray_">
-            <instance_effect url="#ID12" />
-        </material>
-    </library_materials>
-    <library_effects>
-        <effect id="ID7">
-            <profile_COMMON>
-                <technique sid="COMMON">
-                    <lambert>
-                        <diffuse>
-                            <color>1 1 1 1</color>
-                        </diffuse>
-                    </lambert>
-                </technique>
-            </profile_COMMON>
-        </effect>
-        <effect id="ID12">
-            <profile_COMMON>
-                <technique sid="COMMON">
-                    <lambert>
-                        <diffuse>
-                            <color>0.5019608 0.5019608 0.5019608 1</color>
-                        </diffuse>
-                    </lambert>
-                </technique>
-            </profile_COMMON>
-        </effect>
-    </library_effects>
-    <scene>
-        <instance_visual_scene url="#ID1" />
-    </scene>
-</COLLADA>

Tools/simulation/gz/models/rc_cessna/meshes/right_aileron.dae

@@ -1,114 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-    <asset>
-        <contributor>
-            <authoring_tool>SketchUp 15.3.331</authoring_tool>
-        </contributor>
-        <created>2015-05-26T23:41:47Z</created>
-        <modified>2015-05-26T23:41:47Z</modified>
-        <unit meter="0.0254" name="inch" />
-        <up_axis>Z_UP</up_axis>
-    </asset>
-    <library_visual_scenes>
-        <visual_scene id="ID1">
-            <node name="SketchUp">
-                <node id="ID2" name="instance_0">
-                    <matrix>0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 -0 0 1 -19.50896 0 0 0 1</matrix>
-                    <instance_node url="#ID3" />
-                </node>
-            </node>
-        </visual_scene>
-    </library_visual_scenes>
-    <library_nodes>
-        <node id="ID3" name="ske2A3">
-            <node id="ID4" name="group_0">
-                <matrix>1.963935 -1.140581e-016 0 -217.1153 1.140581e-016 1.963935 0 16.85582 0 0 1.963935 19.40739 0 0 0 1</matrix>
-                <instance_geometry url="#ID5">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID6">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                            <instance_material symbol="Material3" target="#ID11">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
-                </instance_geometry>
-            </node>
-        </node>
-    </library_nodes>
-    <library_geometries>
-        <geometry id="ID5">
-            <mesh>
-                <source id="ID8">
-                    <float_array id="ID13" count="120">58.93701 66.5748 27.75591 47.55906 59.6063 29.13386 47.59843 65.15748 28.30709 47.59843 65.15748 28.30709 47.55906 59.6063 29.13386 58.93701 66.5748 27.75591 39.33071 58.62205 29.56693 39.33071 58.62205 29.56693 58.97638 60.95635 29.96063 58.93701 66.5748 27.75591 47.59843 65.15748 28.30709 47.59843 65.15748 28.30709 58.93701 66.5748 27.75591 58.97638 60.95635 29.96063 58.97638 60.7874 28.50244 58.97638 60.7874 28.50244 39.29134 64.13386 28.74016 39.29134 64.13386 28.74016 47.59843 59.64567 30.43307 47.59843 59.64567 30.43307 30.11811 57.59843 29.96063 30.11811 57.59843 29.96063 39.29134 64.13386 28.74016 39.29134 64.13386 28.74016 30.07874 63.0315 29.25197 30.07874 63.0315 29.25197 39.33071 58.62205 30.7874 39.33071 58.62205 30.7874 14.13386 55.62992 30.55118 14.13386 55.62992 30.55118 30.07874 63.0315 29.25197 30.07874 63.0315 29.25197 14.05512 60.94488 30.07874 14.05512 60.94488 30.07874 30.11811 57.59843 31.1811 30.11811 57.59843 31.1811 14.05512 60.94488 30.07874 14.05512 60.94488 30.07874 14.13386 55.62992 31.77165 14.13386 55.62992 31.77165</float_array>
-                    <technique_common>
-                        <accessor count="40" source="#ID13" stride="3">
-                            <param name="X" type="float" />
-                            <param name="Y" type="float" />
-                            <param name="Z" type="float" />
-                        </accessor>
-                    </technique_common>
-                </source>
-                <source id="ID9">
-                    <float_array id="ID14" count="120">-0.03804767 -0.1336973 -0.9902916 -0.03393509 -0.1443297 -0.9889476 -0.03164446 -0.1472782 -0.9885888 0.03164446 0.1472782 0.9885888 0.03393509 0.1443297 0.9889476 0.03804767 0.1336973 0.9902916 -0.0294332 -0.1482161 -0.9885169 0.0294332 0.1482161 0.9885169 -0.001092279 0.3636841 0.9315217 -0.000409118 0.3652875 0.9308947 0.0008682838 0.3607536 0.9326607 -0.0008682838 -0.3607536 -0.9326607 0.000409118 -0.3652875 -0.9308947 0.001092279 -0.3636841 -0.9315217 -0.04154783 -0.1281008 -0.9908905 0.04154783 0.1281008 0.9908905 -0.03197393 -0.1454677 -0.9888462 0.03197393 0.1454677 0.9888462 -0.0004293308 0.3574471 0.9339333 0.0004293308 -0.3574471 -0.9339333 -0.0272016 -0.1325668 -0.9908007 0.0272016 0.1325668 0.9908007 0.004716089 0.3506517 0.9364941 -0.004716089 -0.3506517 -0.9364941 -0.03271636 -0.125567 -0.9915455 0.03271636 0.125567 0.9915455 0.002870077 0.3456667 0.938353 -0.002870077 -0.3456667 -0.938353 -0.03566361 -0.09775055 -0.9945717 0.03566361 0.09775055 0.9945717 0.00538455 0.3372325 0.941406 -0.00538455 -0.3372325 -0.941406 -0.03975437 -0.08905412 -0.9952331 0.03975437 0.08905412 0.9952331 0.003353341 0.3312469 0.9435382 -0.003353341 -0.3312469 -0.9435382 -0.0006590497 0.3100183 0.9507304 0.0006590497 -0.3100183 -0.9507304 -0.002169095 0.3034651 0.9528401 0.002169095 -0.3034651 -0.9528401</float_array>
-                    <technique_common>
-                        <accessor count="40" source="#ID14" stride="3">
-                            <param name="X" type="float" />
-                            <param name="Y" type="float" />
-                            <param name="Z" type="float" />
-                        </accessor>
-                    </technique_common>
-                </source>
-                <vertices id="ID10">
-                    <input semantic="POSITION" source="#ID8" />
-                    <input semantic="NORMAL" source="#ID9" />
-                </vertices>
-                <triangles count="16" material="Material2">
-                    <input offset="0" semantic="VERTEX" source="#ID10" />
-                    <p>0 1 2 2 1 6 8 9 10 14 1 0 2 6 16 8 10 18 6 20 16 18 10 22 16 20 24 18 22 26 20 28 24 26 22 30 24 28 32 26 30 34 34 30 36 34 36 38</p>
-                </triangles>
-                <triangles count="16" material="Material3">
-                    <input offset="0" semantic="VERTEX" source="#ID10" />
-                    <p>3 4 5 7 4 3 11 12 13 5 4 15 17 7 3 19 11 13 17 21 7 23 11 19 25 21 17 27 23 19 25 29 21 31 23 27 33 29 25 35 31 27 37 31 35 39 37 35</p>
-                </triangles>
-            </mesh>
-        </geometry>
-    </library_geometries>
-    <library_materials>
-        <material id="ID6" name="__White_">
-            <instance_effect url="#ID7" />
-        </material>
-        <material id="ID11" name="__Gray_">
-            <instance_effect url="#ID12" />
-        </material>
-    </library_materials>
-    <library_effects>
-        <effect id="ID7">
-            <profile_COMMON>
-                <technique sid="COMMON">
-                    <lambert>
-                        <diffuse>
-                            <color>1 1 1 1</color>
-                        </diffuse>
-                    </lambert>
-                </technique>
-            </profile_COMMON>
-        </effect>
-        <effect id="ID12">
-            <profile_COMMON>
-                <technique sid="COMMON">
-                    <lambert>
-                        <diffuse>
-                            <color>0.5019608 0.5019608 0.5019608 1</color>
-                        </diffuse>
-                    </lambert>
-                </technique>
-            </profile_COMMON>
-        </effect>
-    </library_effects>
-    <scene>
-        <instance_visual_scene url="#ID1" />
-    </scene>
-</COLLADA>

Tools/simulation/gz/models/rc_cessna/meshes/right_flap.dae

@@ -1,161 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-    <asset>
-        <contributor>
-            <authoring_tool>SketchUp 15.3.331</authoring_tool>
-        </contributor>
-        <created>2015-05-26T23:42:08Z</created>
-        <modified>2015-05-26T23:42:08Z</modified>
-        <unit meter="0.0254" name="inch" />
-        <up_axis>Z_UP</up_axis>
-    </asset>
-    <library_visual_scenes>
-        <visual_scene id="ID1">
-            <node name="SketchUp">
-                <node id="ID2" name="instance_0">
-                    <matrix>0.001745328 -0.9999985 0 70.84882 0.9999985 0.001745328 0 -0.03157813 -0 0 1 -19.50896 0 0 0 1</matrix>
-                    <instance_node url="#ID3" />
-                </node>
-            </node>
-        </visual_scene>
-    </library_visual_scenes>
-    <library_nodes>
-        <node id="ID3" name="ske2A3">
-            <node id="ID4" name="group_0">
-                <matrix>1.963935 -1.140581e-016 0 -217.1153 1.140581e-016 1.963935 0 16.85582 0 0 1.963935 19.40739 0 0 0 1</matrix>
-                <instance_geometry url="#ID5">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID6">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                            <instance_material symbol="Material3" target="#ID11">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
-                </instance_geometry>
-                <instance_geometry url="#ID15">
-                    <bind_material>
-                        <technique_common>
-                            <instance_material symbol="Material2" target="#ID16">
-                                <bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
-                            </instance_material>
-                        </technique_common>
-                    </bind_material>
-                </instance_geometry>
-            </node>
-        </node>
-    </library_nodes>
-    <library_geometries>
-        <geometry id="ID5">
-            <mesh>
-                <source id="ID8">
-                    <float_array id="ID13" count="102">99.2126 66.9685 26.29921 83.85827 66.92913 26.81102 99.2126 59.25197 29.33071 99.2126 59.25197 29.33071 83.85827 66.92913 26.81102 99.2126 66.9685 26.29921 83.85827 59.25197 29.96063 83.85827 59.25197 29.96063 99.2126 66.9685 26.29921 83.85827 59.25197 27.79528 83.85827 66.92913 26.81102 83.85827 66.92913 26.81102 83.85827 59.25197 27.79528 99.2126 66.9685 26.29921 68.77953 66.92913 27.44094 68.77953 66.92913 27.44094 68.8189 59.25197 28.4252 68.77953 66.92913 27.44094 76.33858 59.25197 28.11024 76.33858 59.25197 28.11024 68.8189 59.25197 28.4252 68.77953 66.92913 27.44094 99.2126 59.25197 27.79528 99.2126 59.25197 27.79528 68.8189 59.25197 30.23622 68.8189 59.25197 30.23622 58.97638 59.25197 28.70079 58.97638 59.25197 28.70079 58.93701 66.5748 27.75591 58.93701 66.5748 27.75591 58.93701 66.5748 27.75591 58.93701 66.5748 27.75591 58.97638 59.25197 30.62992 58.97638 59.25197 30.62992</float_array>
-                    <technique_common>
-                        <accessor count="34" source="#ID13" stride="3">
-                            <param name="X" type="float" />
-                            <param name="Y" type="float" />
-                            <param name="Z" type="float" />
-                        </accessor>
-                    </technique_common>
-                </source>
-                <source id="ID9">
-                    <float_array id="ID14" count="102">0.03007387 0.365487 0.9303305 0.03702604 0.3770976 0.9254331 0.03254441 0.3698361 0.9285269 -0.03254441 -0.3698361 -0.9285269 -0.03702604 -0.3770976 -0.9254331 -0.03007387 -0.365487 -0.9303305 0.0348804 0.3734313 0.9270018 -0.0348804 -0.3734313 -0.9270018 -0.009746117 -0.1715996 -0.9851186 -0.03218648 -0.1366818 -0.990092 -0.03707021 -0.127129 -0.9911932 0.03707021 0.127129 0.9911932 0.03218648 0.1366818 0.990092 0.009746117 0.1715996 0.9851186 0.02096268 0.3482456 0.9371689 -0.02096268 -0.3482456 -0.9371689 -0.03461144 -0.1272104 -0.9912717 -0.03455417 -0.1273749 -0.9912526 -0.04145418 -0.1271596 -0.9910156 0.04145418 0.1271596 0.9910156 0.03461144 0.1272104 0.9912717 0.03455417 0.1273749 0.9912526 6.679878e-018 -0.1903334 -0.9817195 -6.679878e-018 0.1903334 0.9817195 0.02167083 0.3471584 0.9375561 -0.02167083 -0.3471584 -0.9375561 -0.02738866 -0.1277233 -0.9914316 0.02738866 0.1277233 0.9914316 0.02865303 0.3551468 0.9343713 -0.02865303 -0.3551468 -0.9343713 -0.02711419 -0.1280677 -0.9913947 0.02711419 0.1280677 0.9913947 0.03720642 0.365263 0.9301605 -0.03720642 -0.365263 -0.9301605</float_array>
-                    <technique_common>
-                        <accessor count="34" source="#ID14" stride="3">
-                            <param name="X" type="float" />
-                            <param name="Y" type="float" />
-                            <param name="Z" type="float" />
-                        </accessor>
-                    </technique_common>
-                </source>
-                <vertices id="ID10">
-                    <input semantic="POSITION" source="#ID8" />
-                    <input semantic="NORMAL" source="#ID9" />
-                </vertices>
-                <triangles count="13" material="Material2">
-                    <input offset="0" semantic="VERTEX" source="#ID10" />
-                    <p>0 1 2 2 1 6 8 9 10 1 14 6 10 16 17 16 10 18 18 10 9 8 22 9 6 14 24 16 26 17 24 14 28 17 26 30 24 28 32</p>
-                </triangles>
-                <triangles count="13" material="Material3">
-                    <input offset="0" semantic="VERTEX" source="#ID10" />
-                    <p>3 4 5 7 4 3 11 12 13 7 15 4 12 11 19 19 11 20 21 20 11 12 23 13 25 15 7 21 27 20 29 15 25 31 27 21 33 29 25</p>
-                </triangles>
-            </mesh>
-        </geometry>
-        <geometry id="ID15">
-            <mesh>
-                <source id="ID18">
-                    <float_array id="ID20" count="9">58.97638 60.7874 28.50244 58.93701 66.5748 27.75591 58.97638 60.95635 29.96063</float_array>
-                    <technique_common>
-                        <accessor count="3" source="#ID20" stride="3">
-                            <param name="X" type="float" />
-                            <param name="Y" type="float" />
-                            <param name="Z" type="float" />
-                        </accessor>
-                    </technique_common>
-                </source>
-                <vertices id="ID19">
-                    <input semantic="POSITION" source="#ID18" />
-                </vertices>
-                <lines count="2" material="Material2">
-                    <input offset="0" semantic="VERTEX" source="#ID19" />
-                    <p>1 0 2 1</p>
-                </lines>
-            </mesh>
-        </geometry>
-    </library_geometries>
-    <library_materials>
-        <material id="ID6" name="__White_">
-            <instance_effect url="#ID7" />
-        </material>
-        <material id="ID11" name="__Gray_">
-            <instance_effect url="#ID12" />
-        </material>
-        <material id="ID16" name="edge_color477979255">
-            <instance_effect url="#ID17" />
-        </material>
-    </library_materials>
-    <library_effects>
-        <effect id="ID7">
-            <profile_COMMON>
-                <technique sid="COMMON">
-                    <lambert>
-                        <diffuse>
-                            <color>1 1 1 1</color>
-                        </diffuse>
-                    </lambert>
-                </technique>
-            </profile_COMMON>
-        </effect>
-        <effect id="ID12">
-            <profile_COMMON>
-                <technique sid="COMMON">
-                    <lambert>
-                        <diffuse>
-                            <color>0.5019608 0.5019608 0.5019608 1</color>
-                        </diffuse>
-                    </lambert>
-                </technique>
-            </profile_COMMON>
-        </effect>
-        <effect id="ID17">
-            <profile_COMMON>
-                <technique sid="COMMON">
-                    <constant>
-                        <transparent opaque="A_ONE">
-                            <color>0.1843137 0.3098039 0.3098039 1</color>
-                        </transparent>
-                        <transparency>
-                            <float>1</float>
-                        </transparency>
-                    </constant>
-                </technique>
-            </profile_COMMON>
-        </effect>
-    </library_effects>
-    <scene>
-        <instance_visual_scene url="#ID1" />
-    </scene>
-</COLLADA>

Tools/simulation/gz/models/rc_cessna/model.config

@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>rc_cessna</name>
-  <version>1.0</version>
-  <sdf version='1.9'>model.sdf</sdf>
-
-  <author>
-   <name>Benjamin Perseghetti</name>
-   <email>bperseghetti@rudislabs.com</email>
-  </author>
-
-  <description>
-    This is a model of an RC Cessna 182.
-  </description>
-</model>

Tools/simulation/gz/models/rc_cessna/model.sdf

@@ -1,824 +0,0 @@
-<?xml version="1.0"?>
-<sdf version='1.9'>
-  <model name='rc_cessna'>
-    <pose>0 0 0.246 0 0 0</pose>
-    <link name='base_link'>
-      <pose>0 0 0 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>1.5</mass>
-        <inertia>
-          <ixx>0.197563</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.1458929</iyy>
-          <iyz>0</iyz>
-          <izz>0.1477</izz>
-        </inertia>
-      </inertial>
-      <collision name='fuselodge_collision'>
-        <pose>-.14 0 0 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.65 .08 0.10</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <max_vel>10</max_vel>
-              <min_depth>0.01</min_depth>
-            </ode>
-          </contact>
-        </surface>
-      </collision>
-      <collision name='wings_collision'>
-        <pose>-0.01 0 0.07 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.1 1.0 0.01</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <max_vel>10</max_vel>
-              <min_depth>0.01</min_depth>
-            </ode>
-          </contact>
-        </surface>
-      </collision>
-      <!-- <visual name='fuselodge_collision_visual'>
-        <pose>-.14 0 0 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.65 .08 0.1</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name='wings_collision_visual'>
-        <pose>-0.01 0 0.07 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.1 1.0 0.01</size>
-          </box>
-        </geometry>
-      </visual> -->
-      <visual name='base_link_visual'>
-        <pose>0.07 0 -0.08 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.1 0.1 0.1</scale>
-            <uri>model://rc_cessna/meshes/body.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>.175 .175 .175 1.0</ambient>
-          <diffuse>.175 .175 .175 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-      <sensor name="imu_sensor" type="imu">
-        <always_on>1</always_on>
-        <update_rate>250</update_rate>
-      </sensor>
-      <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="airspeed">
-      <pose>0 0 0 0 0 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.015</mass>
-        <inertia>
-          <ixx>1e-05</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>1e-05</iyy>
-          <iyz>0</iyz>
-          <izz>1e-05</izz>
-        </inertia>
-      </inertial>
-      <visual name="airspeed_visual">
-        <geometry>
-          <cylinder>
-            <radius>0.01</radius>
-            <length>0.1</length>
-          </cylinder>
-        </geometry>
-        <material>
-          <ambient>0 0 0 1.0</ambient>
-          <diffuse>0 0 0 1.0</diffuse>
-        </material>
-      </visual>
-      <!-- <sensor name="air_speed" type="air_speed">
-        <always_on>1</always_on>
-        <update_rate>5.0</update_rate>
-        <enable_metrics>false</enable_metrics>
-        <air_speed>
-          <airspeed>
-            <noise type="gaussian">
-              <mean>0</mean>
-              <stddev>0.01</stddev>
-            </noise>
-          </airspeed>
-        </air_speed>
-      </sensor> -->
-    </link>
-    <joint name='airspeed_joint' type='fixed'>
-      <child>airspeed</child>
-      <parent>base_link</parent>
-    </joint>
-    <link name='rotor_puller'>
-      <pose>0.22 0 0.0 0 1.57079632679 0</pose>
-      <inertial>
-        <pose>0 0 0 0 0 0</pose>
-        <mass>0.005</mass>
-        <inertia>
-          <ixx>9.75e-07</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.000166704</iyy>
-          <iyz>0</iyz>
-          <izz>0.000167604</izz>
-        </inertia>
-      </inertial>
-      <collision name='rotor_puller_collision'>
-        <pose>0 0 0 0 -1.57079632679 0</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.22 0.02</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <!-- <visual name='rotor_puller_collision_visual'>
-        <pose>0 0 0 0 -1.57079632679 0</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.22 0.02</size>
-          </box>
-        </geometry>
-      </visual> -->
-      <visual name='rotor_puller_visual'>
-        <pose>0 0 0 0 0 -1.57079632679</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://rc_cessna/meshes/iris_prop_ccw.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
-      <self_collide>0</self_collide>
-    </link>
-    <joint name='rotor_puller_joint' type='revolute'>
-      <child>rotor_puller</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-1e+16</lower>
-          <upper>1e+16</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
-    <link name="left_elevon">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose>0 0.3 0 0.00 0 0.0</pose>
-      </inertial>
-      <visual name='left_elevon_visual'>
-        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.1 0.1 0.1</scale>
-            <uri>model://rc_cessna/meshes/left_aileron.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="LeftWheel">
-      <pose relative_to="LeftWheelJoint">0 0 0 0 0 0</pose>
-      <inertial>
-        <mass>.05</mass>
-        <inertia>
-          <ixx>0.00003331</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0000204</iyy>
-          <iyz>0</iyz>
-          <izz>0.0000204</izz>
-        </inertia>
-      </inertial>
-      <gravity>true</gravity>
-      <velocity_decay/>
-      <visual name="LeftWheelVisual">
-        <pose>0 0 0 -1.57079632679 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.01</length>
-            <radius>0.03</radius>
-          </cylinder>
-        </geometry>
-      </visual>
-      <collision name="LeftWheelCollision">
-        <pose>0 0 0 -1.57079632679 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.01</length>
-            <radius>0.03</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1.0</mu>
-              <mu2>0.5</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <link name="RightWheel">
-      <pose relative_to="RightWheelJoint">0 0 0 0 0 0</pose>
-      <inertial>
-        <mass>.05</mass>
-        <inertia>
-          <ixx>0.00003331</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0000204</iyy>
-          <iyz>0</iyz>
-          <izz>0.0000204</izz>
-        </inertia>
-      </inertial>
-      <gravity>true</gravity>
-      <velocity_decay/>
-      <visual name="RightWheelVisual">
-        <pose>0 0 0 -1.57079632679 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.01</length>
-            <radius>0.03</radius>
-          </cylinder>
-        </geometry>
-      </visual>
-      <collision name="RightWheelCollision">
-        <pose>0 0 0 -1.57079632679 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.01</length>
-            <radius>0.03</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1.0</mu>
-              <mu2>0.5</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <link name="CenterWheel">
-      <pose relative_to="CenterWheelJoint">0 0 0 0 0 0</pose>
-      <inertial>
-        <mass>.05</mass>
-        <inertia>
-          <ixx>0.00003331</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.0000204</iyy>
-          <iyz>0</iyz>
-          <izz>0.0000204</izz>
-        </inertia>
-      </inertial>
-      <gravity>true</gravity>
-      <velocity_decay/>
-      <visual name="CenterWheelVisual">
-        <pose>0 0 0 -1.57079632679 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.01</length>
-            <radius>0.025</radius>
-          </cylinder>
-        </geometry>
-      </visual>
-      <collision name="CenterWheelCollision">
-        <pose>0 0 0 -1.57079632679 0 0</pose>
-        <geometry>
-          <cylinder>
-            <length>0.01</length>
-            <radius>0.025</radius>
-          </cylinder>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1.0</mu>
-              <mu2>0.5</mu2>
-              <fdir1>0 0 1</fdir1>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-    </link>
-    <link name="right_elevon">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose>0 -0.3 0 0.00 0 0.0</pose>
-      </inertial>
-      <visual name='right_elevon_visual'>
-        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.1 0.1 0.1</scale>
-            <uri>model://rc_cessna/meshes/right_aileron.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="left_flap">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose>0 0.15 0 0.00 0 0.0</pose>
-      </inertial>
-      <visual name='left_flap_visual'>
-        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.1 0.1 0.1</scale>
-            <uri>model://rc_cessna/meshes/left_flap.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="right_flap">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose>0 -0.15 0 0.00 0 0.0</pose>
-      </inertial>
-      <visual name='right_flap_visual'>
-        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.1 0.1 0.1</scale>
-            <uri>model://rc_cessna/meshes/right_flap.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="elevator">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose> -0.5 0 0 0.00 0 0.0</pose>
-      </inertial>
-      <visual name='elevator_visual'>
-        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.1 0.1 0.1</scale>
-            <uri>model://rc_cessna/meshes/elevators.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <link name="rudder">
-      <inertial>
-        <mass>0.00000001</mass>
-        <inertia>
-          <ixx>0.000001</ixx>
-          <ixy>0.0</ixy>
-          <iyy>0.000001</iyy>
-          <ixz>0.0</ixz>
-          <iyz>0.0</iyz>
-          <izz>0.000001</izz>
-        </inertia>
-        <pose>-0.5 0 0.05 0 0 0 </pose>
-      </inertial>
-      <visual name='rudder_visual'>
-        <pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.1 0.1 0.1</scale>
-            <uri>model://rc_cessna/meshes/rudder.dae</uri>
-          </mesh>
-        </geometry>
-        <material>
-          <ambient>0 0 1 1.0</ambient>
-          <diffuse>0 0 1 1.0</diffuse>
-        </material>
-      </visual>
-    </link>
-    <joint name='servo_0' type='revolute'>
-      <parent>base_link</parent>
-      <child>left_elevon</child>
-      <pose>-0.07 0.4 0.08 0.00 0 0.0</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <joint name='servo_1' type='revolute'>
-      <parent>base_link</parent>
-      <child>right_elevon</child>
-      <pose>-0.07 -0.4 0.08 0.00 0 0.0</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <joint name='left_flap_joint' type='revolute'>
-      <parent>base_link</parent>
-      <child>left_flap</child>
-      <pose>-0.07 0.2 0.08 0.00 0 0.0</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <joint name='right_flap_joint' type='revolute'>
-      <parent>base_link</parent>
-      <child>right_flap</child>
-      <pose>-0.07 -0.2 0.08 0.00 0 0.0</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <joint name='servo_2' type='revolute'>
-      <parent>base_link</parent>
-      <child>elevator</child>
-      <pose> -0.5 0 0 0 0 0</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <!-- -30/+30 deg. -->
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <joint name='rudder_joint' type='revolute'>
-      <parent>base_link</parent>
-      <child>rudder</child>
-      <pose>-0.5 0 0.05 0.00 0 0.0</pose>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-0.53</lower>
-          <upper>0.53</upper>
-        </limit>
-        <dynamics>
-          <damping>1.000</damping>
-        </dynamics>
-      </axis>
-      <physics>
-        <ode>
-          <implicit_spring_damper>1</implicit_spring_damper>
-        </ode>
-      </physics>
-    </joint>
-    <joint name="LeftWheelJoint" type="revolute">
-      <parent>base_link</parent>
-      <child>LeftWheel</child>
-      <pose relative_to="base_link">-.035 .13 -0.12 0 0 0</pose>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1.79769e+308</lower>
-          <upper>1.79769e+308</upper>
-        </limit>
-        <dynamics>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </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>

Tools/simulation/gz/models/standard_vtol/model.config

@@ -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>

Tools/simulation/gz/models/standard_vtol/model.sdf

@@ -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>