forked from Archive/PX4-Autopilot
support of multi uav simulation in SITL
This commit is contained in:
Mohamed Abdelkader Zahana
Lorenz Meier
parent
669e580f0a
commit
cd1e04d43c
|
|
@ -0,0 +1,97 @@
|
||||||
|
<launch>
|
||||||
|
|
||||||
|
<!-- MAVROS posix SITL environment launch script -->
|
||||||
|
|
||||||
|
<arg name="debug" default="false"/>
|
||||||
|
<arg name="verbose" default="false"/>
|
||||||
|
<arg name="paused" default="false"/>
|
||||||
|
|
||||||
|
<arg name="est" default="ekf2"/>
|
||||||
|
<arg name="vehicle" default="iris"/>
|
||||||
|
<arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
|
||||||
|
|
||||||
|
<arg name="headless" default="false"/>
|
||||||
|
<arg name="gui" default="true"/>
|
||||||
|
<arg name="ns" default="/"/>
|
||||||
|
|
||||||
|
<arg name="pluginlists_yaml" default="$(find mavros)/launch/px4_pluginlists.yaml" />
|
||||||
|
<arg name="config_yaml" default="$(find mavros)/launch/px4_config.yaml" />
|
||||||
|
|
||||||
|
<!-- Load world -->
|
||||||
|
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||||
|
<arg name="headless" value="$(arg headless)"/>
|
||||||
|
<arg name="gui" value="$(arg gui)"/>
|
||||||
|
<arg name="world_name" value="$(arg world)" />
|
||||||
|
<arg name="debug" value="$(arg debug)" />
|
||||||
|
<arg name="verbose" value="$(arg verbose)" />
|
||||||
|
<arg name="paused" value="$(arg paused)" />
|
||||||
|
</include>
|
||||||
|
|
||||||
|
<!-- UAV1 iris_1-->
|
||||||
|
<group ns="uav1">
|
||||||
|
<arg name="fcu_url" default="udp://:14540@localhost:14557"/>
|
||||||
|
<arg name="gcs_url" value=""/>
|
||||||
|
<arg name="tgt_system" value="1"/>
|
||||||
|
<arg name="tgt_component" value="1"/>
|
||||||
|
<arg name="rcS1" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_1"/>
|
||||||
|
<arg name="ID" value="1"/>
|
||||||
|
|
||||||
|
<include file="$(find px4)/launch/single_vehcile_spawn.launch">
|
||||||
|
<arg name="x" value="0"/>
|
||||||
|
<arg name="y" value="0"/>
|
||||||
|
<arg name="z" value="0"/>
|
||||||
|
<arg name="R" value="0"/>
|
||||||
|
<arg name="P" value="0"/>
|
||||||
|
<arg name="Y" value="0"/>
|
||||||
|
<arg name="vehicle" value="$(arg vehicle)"/>
|
||||||
|
<arg name="rcS" value="$(arg rcS1)"/>
|
||||||
|
<arg name="mavlink_udp_port" value="14560"/>
|
||||||
|
<arg name="ID" value="$(arg ID)"/>
|
||||||
|
</include>
|
||||||
|
|
||||||
|
<include file="$(find mavros)/launch/node.launch">
|
||||||
|
<arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
|
||||||
|
<arg name="config_yaml" value="$(arg config_yaml)" />
|
||||||
|
|
||||||
|
<arg name="fcu_url" value="$(arg fcu_url)" />
|
||||||
|
<arg name="gcs_url" value="$(arg gcs_url)" />
|
||||||
|
<arg name="tgt_system" value="$(arg tgt_system)" />
|
||||||
|
<arg name="tgt_component" value="$(arg tgt_component)" />
|
||||||
|
</include>
|
||||||
|
</group>
|
||||||
|
|
||||||
|
<!-- UAV2 iris_2 -->
|
||||||
|
<group ns="uav2">
|
||||||
|
<arg name="fcu_url" default="udp://:14541@localhost:14559"/>
|
||||||
|
<arg name="gcs_url" value=""/>
|
||||||
|
<arg name="tgt_system" value="2"/>
|
||||||
|
<arg name="tgt_component" value="1"/>
|
||||||
|
<arg name="rcS2" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_2"/>
|
||||||
|
<arg name="ID" value="2"/>
|
||||||
|
|
||||||
|
<include file="$(find px4)/launch/single_vehcile_spawn.launch">
|
||||||
|
<arg name="x" value="1"/>
|
||||||
|
<arg name="y" value="0"/>
|
||||||
|
<arg name="z" value="0"/>
|
||||||
|
<arg name="R" value="0"/>
|
||||||
|
<arg name="P" value="0"/>
|
||||||
|
<arg name="Y" value="0"/>
|
||||||
|
<arg name="vehicle" value="$(arg vehicle)"/>
|
||||||
|
<arg name="rcS" value="$(arg rcS2)"/>
|
||||||
|
<arg name="mavlink_udp_port" value="14562"/>
|
||||||
|
<arg name="ID" value="$(arg ID)"/>
|
||||||
|
</include>
|
||||||
|
|
||||||
|
<include file="$(find mavros)/launch/node.launch">
|
||||||
|
<arg name="pluginlists_yaml" value="$(arg pluginlists_yaml)" />
|
||||||
|
<arg name="config_yaml" value="$(arg config_yaml)" />
|
||||||
|
|
||||||
|
<arg name="fcu_url" value="$(arg fcu_url)" />
|
||||||
|
<arg name="gcs_url" value="$(arg gcs_url)" />
|
||||||
|
<arg name="tgt_system" value="$(arg tgt_system)" />
|
||||||
|
<arg name="tgt_component" value="$(arg tgt_component)" />
|
||||||
|
</include>
|
||||||
|
</group>
|
||||||
|
|
||||||
|
</launch>
|
||||||
|
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
|
||||||
|
|
@ -0,0 +1,33 @@
|
||||||
|
<launch>
|
||||||
|
|
||||||
|
<!-- Posix SITL environment launch script -->
|
||||||
|
<arg name="x" default="0"/>
|
||||||
|
<arg name="y" default="0"/>
|
||||||
|
<arg name="z" default="0"/>
|
||||||
|
<arg name="R" default="0"/>
|
||||||
|
<arg name="P" default="0"/>
|
||||||
|
<arg name="Y" default="0"/>
|
||||||
|
<arg name="est" default="lpe"/>
|
||||||
|
<arg name="vehicle" default="iris"/>
|
||||||
|
<arg name="ID" default="1"/>
|
||||||
|
<arg name="rcS" default="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
|
||||||
|
<arg name="mavlink_udp_port" default="14560" />
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<arg name="cmd" default="$(find xacro)/xacro.py $(find px4)/Tools/sitl_gazebo/models/rotors_description/urdf/$(arg vehicle)_base.xacro rotors_description_dir:=$(find px4)/Tools/sitl_gazebo/models/rotors_description mavlink_udp_port:=$(arg mavlink_udp_port) > $(arg vehicle)_$(arg ID).urdf ; 'gz sdf -p $(arg vehicle)_$(arg ID).urdf'" />
|
||||||
|
|
||||||
|
|
||||||
|
<param command="$(arg cmd)" name="$(arg vehicle)_$(arg ID)_sdf" />
|
||||||
|
|
||||||
|
<node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen"
|
||||||
|
args="$(find px4) $(arg rcS)">
|
||||||
|
</node>
|
||||||
|
|
||||||
|
<node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model"
|
||||||
|
args="-sdf -param $(arg vehicle)_$(arg ID)_sdf -model $(arg vehicle)_$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)" respawn="false"/>
|
||||||
|
|
||||||
|
|
||||||
|
</launch>
|
||||||
|
|
||||||
|
<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : -->
|
||||||
|
|
@ -0,0 +1,80 @@
|
||||||
|
uorb start
|
||||||
|
param load
|
||||||
|
dataman start
|
||||||
|
param set MAV_SYS_ID 1
|
||||||
|
param set BAT_N_CELLS 3
|
||||||
|
param set CAL_ACC0_ID 1376264
|
||||||
|
param set CAL_ACC0_XOFF 0.01
|
||||||
|
param set CAL_ACC0_XSCALE 1.01
|
||||||
|
param set CAL_ACC0_YOFF -0.01
|
||||||
|
param set CAL_ACC0_YSCALE 1.01
|
||||||
|
param set CAL_ACC0_ZOFF 0.01
|
||||||
|
param set CAL_ACC0_ZSCALE 1.01
|
||||||
|
param set CAL_ACC1_ID 1310728
|
||||||
|
param set CAL_ACC1_XOFF 0.01
|
||||||
|
param set CAL_GYRO0_ID 2293768
|
||||||
|
param set CAL_GYRO0_XOFF 0.01
|
||||||
|
param set CAL_MAG0_ID 196616
|
||||||
|
param set CAL_MAG0_XOFF 0.01
|
||||||
|
param set COM_DISARM_LAND 3
|
||||||
|
param set COM_OBL_ACT 2
|
||||||
|
param set COM_OBL_RC_ACT 0
|
||||||
|
param set COM_OF_LOSS_T 5
|
||||||
|
param set COM_RC_IN_MODE 1
|
||||||
|
param set EKF2_AID_MASK 1
|
||||||
|
param set EKF2_ANGERR_INIT 0.01
|
||||||
|
param set EKF2_GBIAS_INIT 0.01
|
||||||
|
param set EKF2_HGT_MODE 0
|
||||||
|
param set EKF2_MAG_TYPE 1
|
||||||
|
param set MAV_TYPE 2
|
||||||
|
param set MC_PITCH_P 6
|
||||||
|
param set MC_PITCHRATE_P 0.2
|
||||||
|
param set MC_ROLL_P 6
|
||||||
|
param set MC_ROLLRATE_P 0.2
|
||||||
|
param set MIS_TAKEOFF_ALT 2.5
|
||||||
|
param set MPC_HOLD_MAX_Z 2.0
|
||||||
|
param set MPC_Z_VEL_I 0.15
|
||||||
|
param set MPC_Z_VEL_P 0.6
|
||||||
|
param set NAV_ACC_RAD 2.0
|
||||||
|
param set NAV_DLL_ACT 2
|
||||||
|
param set RTL_DESCEND_ALT 5.0
|
||||||
|
param set RTL_LAND_DELAY 5
|
||||||
|
param set RTL_RETURN_ALT 30.0
|
||||||
|
param set SENS_BOARD_ROT 0
|
||||||
|
param set SENS_BOARD_X_OFF 0.000001
|
||||||
|
param set SYS_AUTOSTART 4010
|
||||||
|
param set SYS_MC_EST_GROUP 2
|
||||||
|
param set SYS_RESTART_TYPE 2
|
||||||
|
param set SITL_UDP_PRT 14560
|
||||||
|
replay tryapplyparams
|
||||||
|
simulator start -s
|
||||||
|
tone_alarm start
|
||||||
|
gyrosim start
|
||||||
|
accelsim start
|
||||||
|
barosim start
|
||||||
|
adcsim start
|
||||||
|
gpssim start
|
||||||
|
pwm_out_sim mode_pwm
|
||||||
|
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_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
|
||||||
|
|
@ -0,0 +1,80 @@
|
||||||
|
uorb start
|
||||||
|
param load
|
||||||
|
dataman start
|
||||||
|
param set MAV_SYS_ID 2
|
||||||
|
param set BAT_N_CELLS 3
|
||||||
|
param set CAL_ACC0_ID 1376264
|
||||||
|
param set CAL_ACC0_XOFF 0.01
|
||||||
|
param set CAL_ACC0_XSCALE 1.01
|
||||||
|
param set CAL_ACC0_YOFF -0.01
|
||||||
|
param set CAL_ACC0_YSCALE 1.01
|
||||||
|
param set CAL_ACC0_ZOFF 0.01
|
||||||
|
param set CAL_ACC0_ZSCALE 1.01
|
||||||
|
param set CAL_ACC1_ID 1310728
|
||||||
|
param set CAL_ACC1_XOFF 0.01
|
||||||
|
param set CAL_GYRO0_ID 2293768
|
||||||
|
param set CAL_GYRO0_XOFF 0.01
|
||||||
|
param set CAL_MAG0_ID 196616
|
||||||
|
param set CAL_MAG0_XOFF 0.01
|
||||||
|
param set COM_DISARM_LAND 3
|
||||||
|
param set COM_OBL_ACT 2
|
||||||
|
param set COM_OBL_RC_ACT 0
|
||||||
|
param set COM_OF_LOSS_T 5
|
||||||
|
param set COM_RC_IN_MODE 1
|
||||||
|
param set EKF2_AID_MASK 1
|
||||||
|
param set EKF2_ANGERR_INIT 0.01
|
||||||
|
param set EKF2_GBIAS_INIT 0.01
|
||||||
|
param set EKF2_HGT_MODE 0
|
||||||
|
param set EKF2_MAG_TYPE 1
|
||||||
|
param set MAV_TYPE 2
|
||||||
|
param set MC_PITCH_P 6
|
||||||
|
param set MC_PITCHRATE_P 0.2
|
||||||
|
param set MC_ROLL_P 6
|
||||||
|
param set MC_ROLLRATE_P 0.2
|
||||||
|
param set MIS_TAKEOFF_ALT 2.5
|
||||||
|
param set MPC_HOLD_MAX_Z 2.0
|
||||||
|
param set MPC_Z_VEL_I 0.15
|
||||||
|
param set MPC_Z_VEL_P 0.6
|
||||||
|
param set NAV_ACC_RAD 2.0
|
||||||
|
param set NAV_DLL_ACT 2
|
||||||
|
param set RTL_DESCEND_ALT 5.0
|
||||||
|
param set RTL_LAND_DELAY 5
|
||||||
|
param set RTL_RETURN_ALT 30.0
|
||||||
|
param set SENS_BOARD_ROT 0
|
||||||
|
param set SENS_BOARD_X_OFF 0.000001
|
||||||
|
param set SYS_AUTOSTART 4010
|
||||||
|
param set SYS_MC_EST_GROUP 2
|
||||||
|
param set SYS_RESTART_TYPE 2
|
||||||
|
param set SITL_UDP_PRT 14562
|
||||||
|
replay tryapplyparams
|
||||||
|
simulator start -s
|
||||||
|
tone_alarm start
|
||||||
|
gyrosim start
|
||||||
|
accelsim start
|
||||||
|
barosim start
|
||||||
|
adcsim start
|
||||||
|
gpssim start
|
||||||
|
pwm_out_sim mode_pwm
|
||||||
|
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_dc.main.mix
|
||||||
|
mavlink start -u 14558 -r 4000000
|
||||||
|
mavlink start -u 14559 -r 4000000 -m onboard -o 14541
|
||||||
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558
|
||||||
|
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14558
|
||||||
|
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14558
|
||||||
|
mavlink stream -r 50 -s ATTITUDE -u 14558
|
||||||
|
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14558
|
||||||
|
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14558
|
||||||
|
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14558
|
||||||
|
mavlink stream -r 20 -s RC_CHANNELS -u 14558
|
||||||
|
mavlink stream -r 250 -s HIGHRES_IMU -u 14558
|
||||||
|
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14558
|
||||||
|
logger start -e -t
|
||||||
|
mavlink boot_complete
|
||||||
|
replay trystart
|
||||||
|
|
@ -0,0 +1,81 @@
|
||||||
|
uorb start
|
||||||
|
param load
|
||||||
|
param set MAV_SYS_ID 1
|
||||||
|
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_Z_VEL_P 0.6
|
||||||
|
param set MPC_Z_VEL_I 0.15
|
||||||
|
param set EKF2_GBIAS_INIT 0.01
|
||||||
|
param set EKF2_ANGERR_INIT 0.01
|
||||||
|
param set SITL_UDP_PRT 14560
|
||||||
|
# GPS only mode
|
||||||
|
param set LPE_FUSION 145
|
||||||
|
|
||||||
|
replay tryapplyparams
|
||||||
|
simulator start -s
|
||||||
|
tone_alarm start
|
||||||
|
gyrosim start
|
||||||
|
accelsim start
|
||||||
|
barosim start
|
||||||
|
adcsim start
|
||||||
|
gpssim start
|
||||||
|
pwm_out_sim mode_pwm
|
||||||
|
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
|
||||||
|
|
@ -0,0 +1,81 @@
|
||||||
|
uorb start
|
||||||
|
param load
|
||||||
|
param set MAV_SYS_ID 2
|
||||||
|
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_Z_VEL_P 0.6
|
||||||
|
param set MPC_Z_VEL_I 0.15
|
||||||
|
param set EKF2_GBIAS_INIT 0.01
|
||||||
|
param set EKF2_ANGERR_INIT 0.01
|
||||||
|
param set SITL_UDP_PRT 14562
|
||||||
|
# GPS only mode
|
||||||
|
param set LPE_FUSION 145
|
||||||
|
|
||||||
|
replay tryapplyparams
|
||||||
|
simulator start -s
|
||||||
|
tone_alarm start
|
||||||
|
gyrosim start
|
||||||
|
accelsim start
|
||||||
|
barosim start
|
||||||
|
adcsim start
|
||||||
|
gpssim start
|
||||||
|
pwm_out_sim mode_pwm
|
||||||
|
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 14558 -r 4000000
|
||||||
|
mavlink start -u 14559 -r 4000000 -m onboard -o 14541
|
||||||
|
mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14558
|
||||||
|
mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14558
|
||||||
|
mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14558
|
||||||
|
mavlink stream -r 50 -s ATTITUDE -u 14558
|
||||||
|
mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14558
|
||||||
|
mavlink stream -r 50 -s ATTITUDE_TARGET -u 14558
|
||||||
|
mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14558
|
||||||
|
mavlink stream -r 20 -s RC_CHANNELS -u 14558
|
||||||
|
mavlink stream -r 250 -s HIGHRES_IMU -u 14558
|
||||||
|
mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14558
|
||||||
|
logger start -e -t
|
||||||
|
mavlink boot_complete
|
||||||
|
replay trystart
|
||||||
|
|
@ -619,7 +619,9 @@ void Simulator::pollForMAVLinkMessages(bool publish, int udp_port)
|
||||||
struct sockaddr_in _myaddr;
|
struct sockaddr_in _myaddr;
|
||||||
|
|
||||||
if (udp_port < 1) {
|
if (udp_port < 1) {
|
||||||
udp_port = UDP_PORT;
|
int prt;
|
||||||
|
param_get(param_find("SITL_UDP_PRT"), &prt);
|
||||||
|
udp_port = prt;
|
||||||
}
|
}
|
||||||
|
|
||||||
// try to setup udp socket for communcation with simulator
|
// try to setup udp socket for communcation with simulator
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,48 @@
|
||||||
|
/****************************************************************************
|
||||||
|
*
|
||||||
|
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
|
||||||
|
*
|
||||||
|
* Redistribution and use in source and binary forms, with or without
|
||||||
|
* modification, are permitted provided that the following conditions
|
||||||
|
* are met:
|
||||||
|
*
|
||||||
|
* 1. Redistributions of source code must retain the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer.
|
||||||
|
* 2. Redistributions in binary form must reproduce the above copyright
|
||||||
|
* notice, this list of conditions and the following disclaimer in
|
||||||
|
* the documentation and/or other materials provided with the
|
||||||
|
* distribution.
|
||||||
|
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||||
|
* used to endorse or promote products derived from this software
|
||||||
|
* without specific prior written permission.
|
||||||
|
*
|
||||||
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||||
|
* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||||
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||||
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||||
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||||
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||||
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||||
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||||
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||||
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||||
|
* POSSIBILITY OF SUCH DAMAGE.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @file simulator_params.c
|
||||||
|
*
|
||||||
|
* Parameters of software in the loop
|
||||||
|
*
|
||||||
|
* @author Mohamed Abdelkader <mohamedashraf123@gmail.com>
|
||||||
|
*/
|
||||||
|
#include <systemlib/param/param.h>
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Simulator UDP port
|
||||||
|
*
|
||||||
|
* @group SITL
|
||||||
|
*/
|
||||||
|
PARAM_DEFINE_INT32(SITL_UDP_PRT, 14560);
|
||||||
Loading…
Reference in New Issue