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Add Solo sim model (#4761)

This commit is contained in:
Lorenz Meier 2016-06-07 21:25:35 +02:00
parent ff58d31348
commit 7a6ff4742d
3 changed files with 77 additions and 2 deletions
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2
Makefile
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@ -315,7 +315,7 @@ distclean: submodulesclean
cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim replay \
jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane
gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane gazebo_solo
$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
.PHONY: clean

75
posix-configs/SITL/init/rcS_gazebo_solo Normal file
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@ -0,0 +1,75 @@
uorb start
param load
param set MAV_TYPE 2
param set SYS_AUTOSTART 4010
param set SYS_RESTART_TYPE 2
dataman start
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 8
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 RTL_RETURN_ALT 30.0
param set RTL_DESCEND_ALT 10.0
param set RTL_LAND_DELAY 0
param set MIS_TAKEOFF_ALT 2.5
param set MC_ROLLRATE_P 0.5
param set MC_PITCHRATE_P 0.5
param set MC_PITCH_P 5
param set MC_ROLL_P 5
param set MC_ROLLRATE_I 0.1
param set MC_PITCHRATE_I 0.1
param set MPC_HOLD_MAX_Z 2.0
param set MPC_HOLD_XY_DZ 0.1
param set MPC_Z_VEL_P 0.8
param set MPC_Z_VEL_I 0.15
param set MPC_XY_VEL_P 0.15
param set MPC_XY_VEL_I 0.2
param set EKF2_GBIAS_INIT 0.01
param set EKF2_ANGERR_INIT 0.01
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
ekf2 start
mc_pos_control start
mc_att_control start
mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.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
sdlog2 start -r 100 -e -t -a
mavlink boot_complete

2
src/firmware/posix/CMakeLists.txt
View File

@ -128,7 +128,7 @@ add_dependencies(run_config mainapp)
foreach(viewer none jmavsim gazebo replay)
foreach(debugger none gdb lldb ddd valgrind)
foreach(model none iris iris_opt_flow tailsitter standard_vtol plane)
foreach(model none iris iris_opt_flow tailsitter standard_vtol plane solo)
if (debugger STREQUAL "none")
if (model STREQUAL "none")
set(_targ_name "${viewer}")