mirror of
https://github.com/paparazzi/paparazzi.git
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Tom van Dijk
c0741e01ab
* Merge cyberzoo model (squashed) Squashed commit of the following: commit4ea7054205Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Tue Feb 6 11:30:28 2018 +0100 Remove origin marker from worlds commitc008c9658aAuthor: Tom van Dijk <tomvand@users.noreply.github.com> Date: Fri Feb 2 17:25:11 2018 +0100 Compress textures Reduced texture dimensions. Size of model folder is now approx. 20 MB instead of 60+ MB. commit5b63fc1988Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Fri Feb 2 17:03:26 2018 +0100 Minor tweaks to models commited003351d1Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Fri Feb 2 15:26:28 2018 +0100 Add cyberzoo props commit751b94364aAuthor: Tom van Dijk <tomvand@users.noreply.github.com> Date: Thu Feb 1 15:03:30 2018 +0100 Restore cyberzoo floor collision box commit1d4fd2d92fAuthor: Tom van Dijk <tomvand@users.noreply.github.com> Date: Thu Feb 1 14:59:44 2018 +0100 Add cyberzoo surroundings to main model in separate layers commit9df9f2832cAuthor: Tom van Dijk <tomvand@users.noreply.github.com> Date: Thu Feb 1 14:48:06 2018 +0100 Separate cyberzoo model into layers Makes it easier to hide parts of the model in the GUI. commitf8c4221e98Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Thu Feb 1 11:47:52 2018 +0100 Add daylight in windows on outer walls commitb0e6a0c572Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Mon Jan 29 16:25:08 2018 +0100 Remove old cyberzoo model, fix dependencies commitdd54000771Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Mon Jan 29 15:04:43 2018 +0100 Add cyberzoo world with orange poles for orange_avoider commita34e285082Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Mon Jan 29 14:30:47 2018 +0100 Set world coordinates and rotation, fix naming conflict commit1a99ebb7bdAuthor: Tom van Dijk <tomvand@users.noreply.github.com> Date: Thu Jan 18 11:58:06 2018 +0100 Create cyberzoo world To-do: set origin coordinates and rotate environment commitebf7eaf9a7Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Thu Jan 18 11:41:37 2018 +0100 Minor fixes to surroundings commitc57312c557Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Thu Jan 18 11:15:09 2018 +0100 Add updated cyberzoo surroundings and outside walls commit58914e14aeAuthor: Tom van Dijk <tomvand@users.noreply.github.com> Date: Wed Jan 17 17:24:57 2018 +0100 Add first draft of cyberzoo surroundings commit40712f5f3bAuthor: Tom van Dijk <tomvand@users.noreply.github.com> Date: Tue Dec 12 13:45:25 2017 +0100 Fix cyberzoo origin commite47f76cee5Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Tue Dec 12 13:34:11 2017 +0100 Fix orange_pole2 smoothing errors commitb1e08695e7Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Tue Dec 12 13:09:09 2017 +0100 Add orange pole and traffic mat objects commit8bd3d214e6Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Fri Dec 8 14:48:53 2017 +0100 Fix optitrack camera color commit59e7b67fefAuthor: Tom van Dijk <tomvand@users.noreply.github.com> Date: Fri Dec 8 14:43:39 2017 +0100 Fix lighting colors commit810e6124c1Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Fri Dec 8 14:20:47 2017 +0100 Fix optitrack cameras commite6e17c2677Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Fri Dec 8 14:10:55 2017 +0100 Import improved model commite9ed496af9Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Thu Nov 30 16:38:22 2017 +0100 Fix ambient lighting of cyberzoo_solid commit0e1c2600d6Author: Tom van Dijk <tomvand@users.noreply.github.com> Date: Wed Nov 29 14:38:05 2017 +0100 First steps towards detailed cyberzoo model. Got transparency working. * Fix altitude overshoot in simulation - Bypass INS - Set nominal hover throttle to 0.51 (verified in simulation and on real drone). * Fix INS horizontal offset - Set flight plan origin to match gazebo spherical coordinates, prevents https://github.com/paparazzi/paparazzi/issues/2134#issuecomment-342493105 * Increase link lost timeout to 5s Otherwise gazebo will continuously lose link. Might need to lower this for real-world flights... * Fix image.c compilation warnings * Move dummy waypoint to 0, 0 Should prevent "waypoint 'dummy' too far from HOME" warnings when max_dist_from_home is small (e.g. cyberzoo flightplans) and when HOME is set appropriately close to the flight plan origin. * Rename 2017 -> 2018 Also removed simulation aircraft as it is no longer necessary. * Move modules to firmware section * Restore original nominal throttle Nominal throttle of 0.51 was measured without bumpers! 0.68 is correct with bumpers attached. Instead, increased the weight of the gazebo model. * Clean up control panel - Removed Bebop video stream since it did not work - Removed the Gazebo tool. When pointed to /usr/bin/gazebo it does actually start, but the GAZEBO_MODEL_PATH appears to be ignored this way. Also added conf/video.sdp to simplify video streaming (no such file was present in var). * Tag airframe after successful test flight Performed test flight in cyberzoo with course2018_orangeavoid flightplan in NAV mode. * Fix Gazebo tool, add Simulation - Gazebo + Joystick session The new gzclient_launcher.sh script sets up the correct GAZEBO_MODEL_PATH (which was not available when gzclient was started from the Paparazzi Center even if it was added to ~/.bashrc). It also allows the client to be killed from the pprz center. * FIX remove natnet from simulation session * Retune INDI for Bebop1 with bumpers Previous tuning resulted in slight attitude oscillations. * Tag after successful testflight * Add GCS flags * Change gazebo bebop colors * Disable light and shadows Top light caused ogre crash in gazebo 8.3 (not sure if version error or weak gpu). Disabled shadow for performance since there is no light anymore. * Reduce bebop front cam FoV to fix AxisAlignedBox crash in gazebo7 Apparaetly gazebo 7 does not yet support wide-angle cameras with HFoVs above 180deg. * Distance Counter Python * Cleanup after merge * Remove image.c fix (see #2237) * Add 'Simulation - Gazebo' session Avoids errors when joystick is not connected.
15 lines
702 B
XML
15 lines
702 B
XML
<!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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<define name="BYPASS_INS" value="1"/>
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<define name="SIMULATE_MT9F002" value="1"/>
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</section>
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</airframe>
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