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SIH: add Hexacopter X

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to enable easy simulation of a motor failure.
This commit is contained in:
Matthias Grob
2025-05-12 18:57:29 +02:00
parent 9e45f077b1
commit 0b3fc0a62d
8 changed files with 101 additions and 24 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/10044_sihsim_hex
+47
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@@ -0,0 +1,47 @@
#!/bin/sh
#
# @name HexarotorX SITL for SIH
#
# @type Hexarotor x
# @class Copter
#
# @maintainer Matthias Grob <maetugr@gmail.com>
#
. ${R}etc/init.d/rc.mc_defaults
PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set SIH_VEHICLE_TYPE 4
# Symmetric hexacopter X clockwise motor numbering
param set-default CA_ROTOR_COUNT 6
param set-default CA_ROTOR0_PX 0.866
param set-default CA_ROTOR0_PY 0.5
param set-default CA_ROTOR1_PX 0
param set-default CA_ROTOR1_PY 1
param set-default CA_ROTOR1_KM -0.05
param set-default CA_ROTOR2_PX -0.866
param set-default CA_ROTOR2_PY 0.5
param set-default CA_ROTOR3_PX -0.866
param set-default CA_ROTOR3_PY -0.5
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR4_PX 0
param set-default CA_ROTOR4_PY -1
param set-default CA_ROTOR5_PX 0.866
param set-default CA_ROTOR5_PY -0.5
param set-default CA_ROTOR5_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_FUNC5 105
param set-default PWM_MAIN_FUNC6 106
param set-default EKF2_GPS_DELAY 0
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+1
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@@ -109,6 +109,7 @@ px4_add_romfs_files(
10041_sihsim_airplane
10042_sihsim_xvert
10043_sihsim_standard_vtol
10044_sihsim_hex
17001_flightgear_tf-g1
17002_flightgear_tf-g2