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simulator/gz_bridge: split actuator outputs for ESCs and servos (#20979)

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- existing SIM_GZ outputs -> SIM_GZ_EC (ESCs)
 - new SIM_GZ_SV for servos (not fully implemented)
This commit is contained in:
Daniel Agar
2023-01-21 14:44:09 -05:00
committed by GitHub
parent 9ac6b3d3c5
commit 3f842f01a0
12 changed files with 488 additions and 139 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500
+14 -12
View File
@@ -11,6 +11,8 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
param set-default SIM_GZ_EN 1
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
@@ -30,19 +32,19 @@ param set-default CA_ROTOR3_PX -0.13
param set-default CA_ROTOR3_PY 0.20
param set-default CA_ROTOR3_KM -0.05
param set-default SIM_GZ_FUNC1 101
param set-default SIM_GZ_FUNC2 102
param set-default SIM_GZ_FUNC3 103
param set-default SIM_GZ_FUNC4 104
param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_FUNC2 102
param set-default SIM_GZ_EC_FUNC3 103
param set-default SIM_GZ_EC_FUNC4 104
param set-default SIM_GZ_MIN1 150
param set-default SIM_GZ_MIN2 150
param set-default SIM_GZ_MIN3 150
param set-default SIM_GZ_MIN4 150
param set-default SIM_GZ_EC_MIN1 150
param set-default SIM_GZ_EC_MIN2 150
param set-default SIM_GZ_EC_MIN3 150
param set-default SIM_GZ_EC_MIN4 150
param set-default SIM_GZ_MAX1 1000
param set-default SIM_GZ_MAX2 1000
param set-default SIM_GZ_MAX3 1000
param set-default SIM_GZ_MAX4 1000
param set-default SIM_GZ_EC_MAX1 1000
param set-default SIM_GZ_EC_MAX2 1000
param set-default SIM_GZ_EC_MAX3 1000
param set-default SIM_GZ_EC_MAX4 1000
param set-default MPC_THR_HOVER 0.60
ROMFS/px4fmu_common/init.d-posix/airframes/4002_gz_x500_depth
+14 -12
View File
@@ -11,6 +11,8 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_depth}
param set-default SIM_GZ_EN 1
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
@@ -30,19 +32,19 @@ param set-default CA_ROTOR3_PX -0.13
param set-default CA_ROTOR3_PY 0.20
param set-default CA_ROTOR3_KM -0.05
param set-default SIM_GZ_FUNC1 101
param set-default SIM_GZ_FUNC2 102
param set-default SIM_GZ_FUNC3 103
param set-default SIM_GZ_FUNC4 104
param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_FUNC2 102
param set-default SIM_GZ_EC_FUNC3 103
param set-default SIM_GZ_EC_FUNC4 104
param set-default SIM_GZ_MIN1 150
param set-default SIM_GZ_MIN2 150
param set-default SIM_GZ_MIN3 150
param set-default SIM_GZ_MIN4 150
param set-default SIM_GZ_EC_MIN1 150
param set-default SIM_GZ_EC_MIN2 150
param set-default SIM_GZ_EC_MIN3 150
param set-default SIM_GZ_EC_MIN4 150
param set-default SIM_GZ_MAX1 1000
param set-default SIM_GZ_MAX2 1000
param set-default SIM_GZ_MAX3 1000
param set-default SIM_GZ_MAX4 1000
param set-default SIM_GZ_EC_MAX1 1000
param set-default SIM_GZ_EC_MAX2 1000
param set-default SIM_GZ_EC_MAX3 1000
param set-default SIM_GZ_EC_MAX4 1000
param set-default MPC_THR_HOVER 0.60
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+1 -1
View File
@@ -19,7 +19,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
exit 1
fi
elif [ "$PX4_SIMULATOR" = "gz" ]; then
elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then
# source generated gz_env.sh for IGN_GAZEBO_RESOURCE_PATH
if [ -f ./gz_env.sh ]; then