mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-07 08:20:35 +08:00
JaeyoungLim
644aeb9153
* Add gz plane airframe config Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com> Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
597 lines
17 KiB
XML
597 lines
17 KiB
XML
<?xml version="1.0"?>
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<sdf version='1.9'>
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<model name='plane'>
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<pose>0 0 0.246 0 0 0</pose>
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<link name='base_link'>
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<pose>0 0 0 0 0 0</pose>
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>1.5</mass>
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<inertia>
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<ixx>0.197563</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.1458929</iyy>
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<iyz>0</iyz>
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<izz>0.1477</izz>
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</inertia>
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</inertial>
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<collision name='base_link_collision'>
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<pose>0 0 -0.07 0 0 0</pose>
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<geometry>
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<box>
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<size>0.47 0.47 0.11</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode>
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<max_vel>10</max_vel>
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<min_depth>0.01</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name='base_link_visual'>
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<pose>0.07 0 -0.08 0 0 0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>model://plane/meshes/body.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>.175 .175 .175 1.0</ambient>
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<diffuse>.175 .175 .175 1.0</diffuse>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay/>
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<self_collide>0</self_collide>
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<sensor name="imu_sensor" type="imu">
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<always_on>1</always_on>
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<update_rate>250</update_rate>
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</sensor>
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</link>
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<link name="airspeed">
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<pose>0 0 0 0 0 0</pose>
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>0.015</mass>
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<inertia>
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<ixx>1e-05</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>1e-05</iyy>
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<iyz>0</iyz>
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<izz>1e-05</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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<geometry>
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<cylinder>
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<radius>0.01</radius>
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<length>0.1</length>
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</cylinder>
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</geometry>
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<material>
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<ambient>0 0 0 1.0</ambient>
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<diffuse>0 0 0 1.0</diffuse>
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</material>
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</visual>
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<!-- <sensor name="air_speed" type="air_speed">
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<always_on>1</always_on>
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<update_rate>5.0</update_rate>
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<enable_metrics>false</enable_metrics>
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<air_speed>
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<airspeed>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.01</stddev>
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</noise>
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</airspeed>
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</air_speed>
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</sensor> -->
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</link>
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<joint name='airspeed_joint' type='fixed'>
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<child>airspeed</child>
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<parent>base_link</parent>
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</joint>
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<link name='rotor_puller'>
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<pose>0.22 0 0.0 0 1.57 0</pose>
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<inertial>
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<pose>0 0 0 0 0 0</pose>
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<mass>0.005</mass>
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<inertia>
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<ixx>9.75e-07</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.000166704</iyy>
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<iyz>0</iyz>
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<izz>0.000167604</izz>
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</inertia>
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</inertial>
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<collision name='rotor_puller_collision'>
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<pose>0.0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.005 0.22 0.02</size>
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</box>
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</geometry>
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<surface>
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<contact>
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<ode/>
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</contact>
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<friction>
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<ode/>
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</friction>
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</surface>
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</collision>
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<!-- <visual name='rotor_puller_collision_visual'>
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<pose>0.0 0 0 0 0 0</pose>
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<geometry>
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<box>
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<size>0.005 0.22 0.02</size>
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</box>
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</geometry>
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</visual> -->
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<visual name='rotor_puller_visual'>
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<pose>0 0 0 0.0 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>model://plane/meshes/iris_prop_ccw.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>0 0 1 1.0</ambient>
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<diffuse>0 0 1 1.0</diffuse>
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</material>
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</visual>
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<gravity>1</gravity>
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<velocity_decay/>
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<self_collide>0</self_collide>
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</link>
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<joint name='rotor_puller_joint' type='revolute'>
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<child>rotor_puller</child>
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<parent>base_link</parent>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-1e+16</lower>
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<upper>1e+16</upper>
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</limit>
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<dynamics>
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<spring_reference>0</spring_reference>
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<spring_stiffness>0</spring_stiffness>
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</dynamics>
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<use_parent_model_frame>1</use_parent_model_frame>
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</axis>
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</joint>
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<link name="left_elevon">
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<inertial>
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<mass>0.00000001</mass>
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<inertia>
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose>0 0.3 0 0.00 0 0.0</pose>
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</inertial>
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<visual name='left_elevon_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>model://plane/meshes/left_aileron.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>0 0 1 1.0</ambient>
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<diffuse>0 0 1 1.0</diffuse>
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</material>
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</visual>
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</link>
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<link name="right_elevon">
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<inertial>
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<mass>0.00000001</mass>
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<inertia>
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose>0 -0.3 0 0.00 0 0.0</pose>
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</inertial>
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<visual name='right_elevon_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>model://plane/meshes/right_aileron.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>0 0 1 1.0</ambient>
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<diffuse>0 0 1 1.0</diffuse>
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</material>
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</visual>
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</link>
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<link name="left_flap">
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<inertial>
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<mass>0.00000001</mass>
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<inertia>
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose>0 0.15 0 0.00 0 0.0</pose>
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</inertial>
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<visual name='left_flap_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>model://plane/meshes/left_flap.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>0 0 1 1.0</ambient>
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<diffuse>0 0 1 1.0</diffuse>
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</material>
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</visual>
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</link>
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<link name="right_flap">
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<inertial>
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<mass>0.00000001</mass>
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<inertia>
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose>0 -0.15 0 0.00 0 0.0</pose>
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</inertial>
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<visual name='right_flap_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>model://plane/meshes/right_flap.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>0 0 1 1.0</ambient>
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<diffuse>0 0 1 1.0</diffuse>
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</material>
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</visual>
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</link>
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<link name="elevator">
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<inertial>
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<mass>0.00000001</mass>
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<inertia>
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose> -0.5 0 0 0.00 0 0.0</pose>
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</inertial>
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<visual name='elevator_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>model://plane/meshes/elevators.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>0 0 1 1.0</ambient>
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<diffuse>0 0 1 1.0</diffuse>
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</material>
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</visual>
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</link>
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<link name="rudder">
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<inertial>
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<mass>0.00000001</mass>
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<inertia>
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<ixx>0.000001</ixx>
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<ixy>0.0</ixy>
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<iyy>0.000001</iyy>
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<ixz>0.0</ixz>
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<iyz>0.0</iyz>
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<izz>0.000001</izz>
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</inertia>
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<pose>-0.5 0 0.05 0 0 0 </pose>
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</inertial>
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<visual name='rudder_visual'>
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<pose>0.07 0.0 -0.08 0.00 0 0.0</pose>
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<geometry>
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<mesh>
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<scale>0.1 0.1 0.1</scale>
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<uri>model://plane/meshes/rudder.dae</uri>
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</mesh>
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</geometry>
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<material>
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<ambient>0 0 1 1.0</ambient>
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<diffuse>0 0 1 1.0</diffuse>
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</material>
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</visual>
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</link>
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<joint name='px4_servo_0' type='revolute'>
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<parent>base_link</parent>
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<child>left_elevon</child>
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<pose>-0.07 0.4 0.08 0.00 0 0.0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<lower>-0.53</lower>
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<upper>0.53</upper>
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</limit>
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<dynamics>
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<damping>1.000</damping>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<joint name='px4_servo_1' type='revolute'>
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<parent>base_link</parent>
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<child>right_elevon</child>
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<pose>-0.07 -0.4 0.08 0.00 0 0.0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<lower>-0.53</lower>
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<upper>0.53</upper>
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</limit>
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<dynamics>
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<damping>1.000</damping>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<joint name='left_flap_joint' type='revolute'>
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<parent>base_link</parent>
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<child>left_flap</child>
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<pose>-0.07 0.2 0.08 0.00 0 0.0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<lower>-0.53</lower>
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<upper>0.53</upper>
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</limit>
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<dynamics>
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<damping>1.000</damping>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<joint name='right_flap_joint' type='revolute'>
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<parent>base_link</parent>
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<child>right_flap</child>
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<pose>-0.07 -0.2 0.08 0.00 0 0.0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<lower>-0.53</lower>
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<upper>0.53</upper>
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</limit>
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<dynamics>
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<damping>1.000</damping>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<joint name='px4_servo_2' type='revolute'>
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<parent>base_link</parent>
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<child>elevator</child>
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<pose> -0.5 0 0 0 0 0</pose>
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<axis>
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<xyz>0 1 0</xyz>
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<limit>
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<!-- -30/+30 deg. -->
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<lower>-0.53</lower>
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<upper>0.53</upper>
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</limit>
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<dynamics>
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<damping>1.000</damping>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<joint name='rudder_joint' type='revolute'>
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<parent>base_link</parent>
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<child>rudder</child>
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<pose>-0.5 0 0.05 0.00 0 0.0</pose>
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<axis>
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<xyz>0 0 1</xyz>
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<limit>
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<lower>-0.53</lower>
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<upper>0.53</upper>
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</limit>
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<dynamics>
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<damping>1.000</damping>
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</dynamics>
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</axis>
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<physics>
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<ode>
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<implicit_spring_damper>1</implicit_spring_damper>
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</ode>
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</physics>
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</joint>
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<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
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<a0>0.05984281113</a0>
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<cla>4.752798721</cla>
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<cda>0.6417112299</cda>
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<cma>0.0</cma>
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<alpha_stall>0.3391428111</alpha_stall>
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<cla_stall>-3.85</cla_stall>
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<cda_stall>-0.9233984055</cda_stall>
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<cma_stall>0</cma_stall>
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<cp>-0.05 0.45 0.05</cp>
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<area>0.6</area>
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<air_density>1.2041</air_density>
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<forward>1 0 0</forward>
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<upward>0 0 1</upward>
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<link_name>base_link</link_name>
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<control_joint_name>px4_servo_0</control_joint_name>
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<control_joint_rad_to_cl>-0.3</control_joint_rad_to_cl>
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</plugin>
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<plugin
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filename="gz-sim-joint-position-controller-system" name="gz::sim::systems::JointPositionController">
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<joint_name>px4_servo_0</joint_name>
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</plugin>
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<plugin filename="gz-sim-lift-drag-system" name="gz::sim::systems::LiftDrag">
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<a0>0.05984281113</a0>
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<cla>4.752798721</cla>
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<cda>0.6417112299</cda>
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<cma>0.0</cma>
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<alpha_stall>0.3391428111</alpha_stall>
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<cla_stall>-3.85</cla_stall>
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<cda_stall>-0.9233984055</cda_stall>
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<cma_stall>0</cma_stall>
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<cp>-0.05 -0.45 0.05</cp>
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|
<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>px4_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>px4_servo_1</joint_name>
|
|
</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>px4_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>px4_servo_2</joint_name>
|
|
</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>
|
|
</plugin>
|
|
<plugin filename="ignition-gazebo-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>3</motorNumber>
|
|
<rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
|
|
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
|
|
<rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
|
|
<motorType>velocity</motorType>
|
|
</plugin>
|
|
<static>0</static>
|
|
</model>
|
|
</sdf>
|