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131 lines
5.6 KiB
Markdown
131 lines
5.6 KiB
Markdown
# FlightGear 차량
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:::warning
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This simulator is [community supported and maintained](../simulation/community_supported_simulators.md).
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It may or may not work with current versions of PX4.
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See [Toolchain Installation](../dev_setup/dev_env.md) for information about the environments and tools supported by the core development team.
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:::
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This topic lists/displays the vehicles supported by the PX4 [FlightGear](../sim_flightgear/index.md) simulation, and the `make` commands required to run them (the commands are run from terminal in the **PX4-Autopilot** directory).
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The supported types are: plane, autogyro and rover (there are specific frames within these types).
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:::tip
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For the full list of build targets run `make px4_sitl list_vmd_make_targets` (filter out those that start with `flightgear_`).
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:::
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:::info
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The [FlightGear](../sim_flightgear/index.md) page shows how to install and use FlightGear in more detail (this page is a summary of vehicle-specific features).
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:::
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## 표준 항공기
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FlightGear has models for many planes.
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The most suitable one for UAV development is currently the [Rascal RC plane](https://github.com/ThunderFly-aerospace/FlightGear-Rascal) (which also exists in multiple variants).
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The variants differ mainly by the [FDM](https://wiki.flightgear.org/Flight_Dynamics_Model) model.
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All variants have a common feature selection table that can be activated by pressing the `=` key on the computer keyboard.
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There is a pop-up table that could be used for advanced features activation.
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The most relevant option is:
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- Smoke - generates a smoke trail to enhance the visibility of aircraft in the air (smoke and particles option needs to be activated in **FG View > rendering options > Particles checkbox**).
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- Trajectory markers - displays orthogonal markers along the trajectory of flight.
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Trajectory markers show the absolute flight path in the world coordinates, and the smoke trail shows the relative path in the air mass.
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### Rascal 110 YASim
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The primary variant of the Rascal model has a combustion piston-engine model.
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This results in a non-zero idle power causing a rotation of propeller on idle engine RPM.
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The launch command is:
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```sh
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make px4_sitl_nolockstep flightgear_rascal
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```
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### Rascal 110 Electric YASim
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A Rascal vehicle with an electric engine.
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```sh
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make px4_sitl_nolockstep flightgear_rascal-electric
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```
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:::info
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This variant needs the latest FlightGear code (sources at least from 26 April 2020).
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Otherwise, the FlightGear crashes because of an unexpected definition of electric engine.
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:::
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### Rascal 110 JSBsim
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Rascal JSBsim variant.
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This variant does not have a direct `make` option but can be manually selected in the **rascal.json** configuration file (part of [PX4-FlightGear-Bridge](https://github.com/ThunderFly-aerospace/PX4-FlightGear-Bridge)).
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Simply change `Rascal110-YASim` to `Rascal110-JSBSim` in [this file](https://github.com/ThunderFly-aerospace/PX4-FlightGear-Bridge/blob/master/models/rascal.json#L2).
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## 오토자이로
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The only UAV autogyro model supported by FlightGear is [TF-G1 Autogyro](https://github.com/ThunderFly-aerospace/TF-G1).
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```sh
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make px4_sitl_nolockstep flightgear_tf-g1
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```
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## Ackerman vehicle (UGV/Rover)
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### TF-R1 Ground support Rover
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This rover is equipped with a towing hitch and might be used for aero-towing of other vehicles.
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```sh
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make px4_sitl_nolockstep flightgear_tf-r1
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```
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## Quadrotor
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There is only an [incomplete multirotor model](https://github.com/ThunderFly-aerospace/FlightGear-TF-Mx1).
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This is not yet usable (it is numerically unstable and needs an additional work).
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## Adding a New Vehicle
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A new vehicle model needs to be included as a git submodule into [PX4-FlightGear-Bridge/models/](https://github.com/PX4/PX4-FlightGear-Bridge/tree/master/models) directory.
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This directory contains an control channel definition [JSON file](https://github.com/PX4/PX4-FlightGear-Bridge/blob/master/models/rascal.json).
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```json
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{
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"FgModel": "Rascal110-YASim",
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"Url": "https://github.com/ThunderFly-aerospace/FlightGear-Rascal/archive/master.zip",
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"Controls": [
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["5", "/controls/flight/aileron", "-1"],
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["7", "/controls/flight/elevator", "-1"],
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["2", "/controls/flight/rudder", "1"],
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["4", "/controls/engines/engine/throttle", "1"]
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]
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}
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```
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The file content meaning is as follows:
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- `FgModel` - a precise case sensitive name of the FlightGear model corresponding to "XXXX-set.xml" in the model directory (where XXXX is the model name).
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- `Url` is optional and it is not currently used. It is intended for future use to auto-download the models from web
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- `Controls` - the most important part of the process of adding a vehicle. This section contains the mapping between the PX4 mixer file and [FlightGear property tree](https://wiki.flightgear.org/Property_tree).
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- The first number in a list selects a PX4 mixer output.
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- Path string is a FlightGear variable location in the property tree.
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- The last number in a list is a multiplier, allowing inversion or scaling of mixer input.
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After preparing all these files a new vehicle need to be included in the PX4 make system.
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The PX4 configuration is in [/platforms/posix/cmake/sitl_target.cmake](https://github.com/PX4/PX4-Autopilot/blob/c5341da8137f460c84f47f0e38293667ea69a6cb/platforms/posix/cmake/sitl_target.cmake#L164-L171).
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The new vehicle's json name should be added to the list.
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