Add iris_rplidar model (#6558)

* Whitespace cleanup and add config for rplidar.

* Add rplidar target.

* Disable gps for rplidar.

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -329,7 +329,7 @@ then
 	if lis3mdl -R 0 start
 	then
 	fi
-	
+
 	# Possible external compasses
 	if hmc5883 -X start
 	then

Tools/px4_snapflight_sanitytest.sh

@@ -77,7 +77,7 @@ verifypx4test() {
       echo -e "[WARNING] Skipping string checks for 8x96 platform"
       return
    fi
-   
+
    echo -e "Verifying test results..."
    
    # verify the presence of expected stings in the apps proc console log

Tools/px_generate_params.py

@@ -60,4 +60,4 @@ if __name__ == "__main__":
     args = arg_parser.parse_args()
     generate(xml_file=args.xml, modules=args.modules, dest=args.dest)
 
-#  vim: set et fenc=utf-8 ff=unix sts=4 sw=4 ts=4 : 
+#  vim: set et fenc=utf-8 ff=unix sts=4 sw=4 ts=4 :

posix-configs/SITL/init/lpe/iris_rplidar

@@ -0,0 +1,79 @@
+uorb start
+param load
+param set MAV_TYPE 2
+param set SYS_AUTOSTART 4010
+param set SYS_RESTART_TYPE 2
+param set SYS_MC_EST_GROUP 1
+dataman start
+param set BAT_N_CELLS 3
+param set CAL_GYRO0_ID 2293768
+param set CAL_ACC0_ID 1376264
+param set CAL_ACC1_ID 1310728
+param set CAL_MAG0_ID 196616
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_XOFF 0.01
+param set CAL_MAG0_XOFF 0.01
+param set SENS_BOARD_ROT 0
+param set SENS_BOARD_X_OFF 0.000001
+param set COM_RC_IN_MODE 1
+param set NAV_DLL_ACT 2
+param set COM_DISARM_LAND 3
+param set NAV_ACC_RAD 2.0
+param set COM_OF_LOSS_T 5
+param set COM_OBL_ACT 2
+param set COM_OBL_RC_ACT 0
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 5.0
+param set RTL_LAND_DELAY 5
+param set MIS_TAKEOFF_ALT 2.5
+param set MC_ROLLRATE_P 0.2
+param set MC_PITCHRATE_P 0.2
+param set MC_PITCH_P 6
+param set MC_ROLL_P 6
+param set MPC_HOLD_MAX_Z 2.0
+param set MPC_HOLD_XY_DZ 0.1
+param set MPC_Z_VEL_P 0.6
+param set MPC_Z_VEL_I 0.15
+param set LPE_FUSION 242
+
+replay tryapplyparams
+simulator start -s
+rgbledsim start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+pwm_out_sim mode_pwm
+sleep 1
+sensors start
+commander start
+land_detector start multicopter
+navigator start
+attitude_estimator_q start
+local_position_estimator start
+mc_pos_control start
+mc_att_control start
+mixer load /dev/pwm_output0 ROMFS/px4fmu_common/mixers/quad_dc.main.mix
+mavlink start -u 14556 -r 4000000
+mavlink start -u 14557 -r 4000000 -m onboard -o 14540
+mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
+mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
+mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
+mavlink stream -r 50 -s ATTITUDE -u 14556
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
+mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
+mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
+mavlink stream -r 20 -s RC_CHANNELS -u 14556
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+logger start -e -t
+mavlink boot_complete
+replay trystart

src/firmware/posix/sitl_target.cmake

@@ -74,7 +74,8 @@ ExternalProject_Add_Step(sitl_gazebo forceconfigure
 # create targets for each viewer/model/debugger combination
 set(viewers none jmavsim gazebo replay)
 set(debuggers none ide gdb lldb ddd valgrind callgrind)
-set(models none iris iris_opt_flow standard_vtol plane solo tailsitter typhoon_h480 rover)
+set(models none iris iris_opt_flow iris_rplidar
+	standard_vtol plane solo tailsitter typhoon_h480 rover)
 set(all_posix_vmd_make_targets)
 foreach(viewer ${viewers})
 	foreach(debugger ${debuggers})