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Port of Advanced Plane from Gazebo Classic to Gazebo (#22167)

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* started tiltrotor port

* added advanced plane and changed some parameters on the tiltrotor

* added advanced plane

* removed tiltrotor for clean push

* removed standard vtol old model file

* removing the standard vtol changes from this PR, since it is not part of the advanced plane

* removed advanced plane meshes as they are already found in the rc_cessna

* updating and improving airframe parameters

* updated mesh paths

Signed-off-by: frederik <frederik@auterion.com>

---------

Signed-off-by: frederik <frederik@auterion.com>
Co-authored-by: frederik <frederik@auterion.com>
This commit is contained in:
Frederik Markus
2023-11-06 17:31:04 +09:00
committed by GitHub
parent 22ee90b7d7
commit 39fbfd8e0c
4 changed files with 675 additions and 0 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane
+82
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@@ -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/CMakeLists.txt
+1
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@@ -79,6 +79,7 @@ px4_add_romfs_files(
4004_gz_standard_vtol
4005_gz_x500_vision
4006_gz_px4vision
4008_gz_advanced_plane
6011_gazebo-classic_typhoon_h480
6011_gazebo-classic_typhoon_h480.post