dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

gazebo airframes: cleanup and fix missing parameters (#21411) 

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
This commit is contained in:
Beniamino Pozzan 2023-03-31 23:01:29 -07:00 committed by GitHub
parent 89bb4622ef
commit 448b915694
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 8 additions and 50 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

46
ROMFS/px4fmu_common/init.d-posix/airframes/4002_gz_x500_depth
View File

@ -5,50 +5,6 @@
# @type Quadrotor
#
. ${R}etc/init.d/rc.mc_defaults
PX4_SIMULATOR=${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 SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default CA_AIRFRAME 0
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.13
param set-default CA_ROTOR0_PY 0.22
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.13
param set-default CA_ROTOR1_PY -0.20
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.13
param set-default CA_ROTOR2_PY -0.22
param set-default CA_ROTOR2_KM -0.05
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_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_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_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
. ${R}etc/init.d-posix/airframes/4001_gz_x500

2
ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
View File

@ -10,6 +10,8 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1

2
ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
View File

@ -11,6 +11,8 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1

6
ROMFS/px4fmu_common/init.d-posix/airframes/4005_gz_x500_vision
View File

@ -5,8 +5,6 @@
# @type Quadrotor
#
. ${R}etc/init.d-posix/airframes/4001_gz_x500
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_vision}
. ${R}etc/init.d-posix/airframes/4001_gz_x500

2
Tools/simulation/gz/models/x500_depth/model.sdf
View File

@ -2,7 +2,7 @@
<sdf version='1.9'>
<model name='x500-Depth'>
<include merge='true'>
<uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
<uri>x500</uri>
</include>
<include merge='true'>
<uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>