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[gazebo] Add actuator dynamics and bebop model (#2219)
* Add gazebo model for Parrot Bebop 1 * Add first-order high pass filter * First implementation of actuator dynamics and spinup torque Flies ok with PID control Does not fly ok with INDI, the required G1 R is 0.159 instead of 0.0022 (estimated by flying in adaptive mode). The other parameters are close to those specified in the airframe file. * FIX incorrect yaw behavior Fixed two bugs: 1. gazebo_actuators.torques was set to NPS_ACTUATOR_THRUSTS 2. spinup torque direction is now also controlled by motor mixing * Clean up debug code and file logger * Clean up gazebo example airframes * Minor cleanup * FIX warnings about missing initializer in fdm_gazebo * Update documentation * Remove modules section, move to firmware * Minor fixes to fdm_gazebo and high_pass_filter * Move actuator dynamics to included airframe files Should prevent duplicate actuator defines spread accross all airframe files. * Fix FILTER_ROLL_RATE in bebop2_indi airframe Moved to firmware targets so it will be disabled in gazebo. Is this actually working in jsbsim?? * Update documentation * Fix newlines * Minor fixes in nps_fdm_gazebo.cpp * Re-enable filter roll rate Caution: causes oscillations around roll axis in gazebo * Disable roll filter and cleanup
This commit is contained in:
Tom van Dijk
committed by
Kirk Scheper
Kirk Scheper
parent
2d86a0b60a
commit
cfabb51eed
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<!DOCTYPE airframe SYSTEM "../../../airframes/airframe.dtd">
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<airframe>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_THRUSTS" value="1.55, 1.55, 1.55, 1.55" type="float[]"/>
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<define name="ACTUATOR_TORQUES" value="0.155, 0.155, 0.155, 0.155" type="float[]"/>
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<define name="BYPASS_AHRS" value="1"/>
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<define name="SIMULATE_VIDEO" value="1"/>
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</section>
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</airframe>
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<!DOCTYPE airframe SYSTEM "../../../airframes/airframe.dtd">
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<airframe>
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<section name="SIMULATOR" prefix="NPS_">
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<define name="ACTUATOR_THRUSTS" value="2.09, 2.09, 2.09, 2.09" type="float[]"/>
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<define name="ACTUATOR_TORQUES" value="0.0250, 0.0250, 0.0250, 0.0250" type="float[]"/>
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<define name="ACTUATOR_TIME_CONSTANTS" value="0.02, 0.02, 0.02, 0.02" type="float[]"/>
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<define name="ACTUATOR_MAX_ANGULAR_MOMENTUM" value="0.19, 0.19, 0.19, 0.19" type="float[]"/>
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<define name="GAZEBO_AC_NAME" value="bebop" type="string"/>
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<define name="BYPASS_AHRS" value="1"/>
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</section>
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</airframe>
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<?xml version='1.0'?>
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<sdf version='1.4'>
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<model name="bebop">
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<pose>0 0 .1 0 0 0</pose>
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<link name="chassis">
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<velocity_decay>
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<linear>0.001</linear>
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</velocity_decay>
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<inertial>
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<mass>0.38905</mass>
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<inertia>
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<ixx> 0.000906 </ixx>
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<iyy> 0.001242 </iyy>
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<izz> 0.002054 </izz>
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<ixy> 0. </ixy>
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<ixz> 0.000014 </ixz>
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<iyz> 0. </iyz>
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</inertia>
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</inertial>
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<collision name="collision">
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<geometry>
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<box>
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<size>0.4 0.4 0.05</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>0.15 0.05 0.05</size>
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</box>
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</geometry>
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</visual>
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<sensor name="contactsensor" type="contact">
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<contact>
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<collision>collision</collision>
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</contact>
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</sensor>
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</link>
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<!-- MOTORS -->
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<link name="nw_motor">
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<pose>0.077 0.095 0 0 0 0</pose>
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<inertial>
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<mass>0.01</mass>
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<inertia>
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<ixx>0.0001</ixx>
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<iyy>0.0001</iyy>
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<izz>0.0001</izz>
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<ixy>0</ixy>
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<iyz>0</iyz>
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<ixz>0</ixz>
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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>0.05</radius>
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<length>0.02</length>
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</cylinder>
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</geometry>
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<material>
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<diffuse>0.25 0.85 0.95 1</diffuse>
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<ambient>0.25 0.85 0.95 1</ambient>
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</material>
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</visual>
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</link>
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<joint type="fixed" name="nw_motor_joint">
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<parent>chassis</parent>
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<child>nw_motor</child>
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</joint>
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<link name="se_motor">
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<pose>-0.077 -0.095 0 0 0 0</pose>
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<inertial>
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<mass>0.01</mass>
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<inertia>
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<ixx>0.0001</ixx>
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<iyy>0.0001</iyy>
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<izz>0.0001</izz>
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<ixy>0</ixy>
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<iyz>0</iyz>
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<ixz>0</ixz>
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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>0.05</radius>
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<length>0.02</length>
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</cylinder>
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</geometry>
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<material>
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<diffuse>0.1 0.1 0.1 1</diffuse>
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<ambient>0.1 0.1 0.1 1</ambient>
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</material>
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</visual>
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</link>
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<joint type="fixed" name="se_motor_joint">
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<parent>chassis</parent>
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<child>se_motor</child>
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</joint>
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<link name="ne_motor">
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<pose>0.077 -0.095 0 0 0 0</pose>
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<inertial>
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<mass>0.01</mass>
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<inertia>
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<ixx>0.0001</ixx>
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<iyy>0.0001</iyy>
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<izz>0.0001</izz>
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<ixy>0</ixy>
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<iyz>0</iyz>
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<ixz>0</ixz>
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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>0.05</radius>
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<length>0.02</length>
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</cylinder>
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</geometry>
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<material>
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<diffuse>0.25 0.85 0.95 1</diffuse>
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<ambient>0.25 0.85 0.95 1</ambient>
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</material>
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</visual>
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</link>
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<joint type="fixed" name="ne_motor_joint">
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<parent>chassis</parent>
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<child>ne_motor</child>
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</joint>
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<link name="sw_motor">
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<pose>-0.077 0.095 0 0 0 0</pose>
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<inertial>
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<mass>0.01</mass>
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<inertia>
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<ixx>0.0001</ixx>
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<iyy>0.0001</iyy>
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<izz>0.0001</izz>
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<ixy>0</ixy>
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<iyz>0</iyz>
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<ixz>0</ixz>
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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>0.05</radius>
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<length>0.02</length>
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</cylinder>
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</geometry>
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<material>
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<diffuse>0.1 0.1 0.1 1</diffuse>
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<ambient>0.1 0.1 0.1 1</ambient>
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</material>
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</visual>
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</link>
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<joint type="fixed" name="sw_motor_joint">
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<parent>chassis</parent>
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<child>sw_motor</child>
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</joint>
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<!-- CAMERAS -->
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<link name="front_camera">
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<pose>0.15 0 0 0 0 0</pose>
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<inertial>
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<mass>0.001</mass>
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<inertia>
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<ixx>0.0001</ixx>
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<iyy>0.0001</iyy>
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<izz>0.0001</izz>
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<ixy>0</ixy>
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<iyz>0</iyz>
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<ixz>0</ixz>
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</inertia>
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</inertial>
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<sensor type="camera" name="front_camera">
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<update_rate>30.0</update_rate>
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<camera name="front_camera">
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>1280</width>
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<height>720</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<!-- Noise is sampled independently per pixel on each frame. That pixel's
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noise value is added to each of its color channels, which at that point lie
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in the range [0,1]. -->
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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</sensor>
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</link>
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<joint name="front_camera_joint" type="fixed">
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<parent>chassis</parent>
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<child>front_camera</child>
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</joint>
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<link name="bottom_camera">
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<pose>0 0 -.03 0 1.57 0</pose>
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<inertial>
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<mass>0.001</mass>
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<inertia>
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<ixx>0.0001</ixx>
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<iyy>0.0001</iyy>
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<izz>0.0001</izz>
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<ixy>0</ixy>
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<iyz>0</iyz>
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<ixz>0</ixz>
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</inertia>
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</inertial>
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<sensor type="camera" name="bottom_camera">
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<update_rate>30.0</update_rate>
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<camera name="bottom_camera">
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<horizontal_fov>1.3962634</horizontal_fov>
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<image>
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<width>320</width>
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<height>240</height>
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<format>R8G8B8</format>
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</image>
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<clip>
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<near>0.02</near>
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<far>300</far>
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</clip>
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<noise>
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<type>gaussian</type>
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<!-- Noise is sampled independently per pixel on each frame. That pixel's
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noise value is added to each of its color channels, which at that point lie
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in the range [0,1]. -->
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<mean>0.0</mean>
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<stddev>0.007</stddev>
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</noise>
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</camera>
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</sensor>
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</link>
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<joint name="bottom_camera_joint" type="fixed">
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<parent>chassis</parent>
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<child>bottom_camera</child>
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</joint>
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</model>
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</sdf>
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@@ -0,0 +1,15 @@
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<?xml version="1.0"?>
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<model>
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<name>Bebop (Paparazzi)</name>
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<version>1.0</version>
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<sdf version='1.4'>bebop.sdf</sdf>
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<author>
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<name>Tom van Dijk</name>
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<email>tomvand@users.noreply.github.com</email>
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</author>
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<description>
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Simple Bebop model for use with Paparazzi's NPS (http://wiki.paparazziuav.org).
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</description>
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</model>
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