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perrrreClaudio-Chies
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JoelJ18
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Add gz model for quadtailsitter (PX4#23943)
* Add gazebo airspeed plugin and add a tailsitter model --------- Co-authored-by: Claudio Chies <[email protected]>
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‎ROMFS/px4fmu_common/init.d-posix/airframes/4018_gz_quadtailsitter‎

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#!/bin/sh
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#
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# @name Quadrotor + Tailsitter
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#
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# @type VTOL Quad Tailsitter
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#
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. ${R}etc/init.d/rc.vtol_defaults
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PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
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PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
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PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}
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param set-default SIM_GZ_EN 1 # Gazebo bridge
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param set-default SENS_EN_GPSSIM 1
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param set-default SENS_EN_BAROSIM 0
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param set-default SENS_EN_MAGSIM 1
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param set-default SENS_EN_ARSPDSIM 0
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param set-default MAV_TYPE 20
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param set-default CA_AIRFRAME 4
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param set-default CA_ROTOR_COUNT 4
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param set-default CA_ROTOR0_PX 0.15
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param set-default CA_ROTOR0_PY 0.23
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param set-default CA_ROTOR0_KM 0.05
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param set-default CA_ROTOR1_PX -0.15
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param set-default CA_ROTOR1_PY -0.23
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param set-default CA_ROTOR1_KM 0.05
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param set-default CA_ROTOR2_PX 0.15
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param set-default CA_ROTOR2_PY -0.23
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param set-default CA_ROTOR2_KM -0.05
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param set-default CA_ROTOR3_PX -0.15
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param set-default CA_ROTOR3_PY 0.23
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param set-default CA_ROTOR3_KM -0.05
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param set-default CA_SV_CS_COUNT 0
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param set-default SIM_GZ_EC_FUNC1 101
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param set-default SIM_GZ_EC_FUNC2 102
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param set-default SIM_GZ_EC_FUNC3 103
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param set-default SIM_GZ_EC_FUNC4 104
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param set-default SIM_GZ_EC_MIN1 10
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param set-default SIM_GZ_EC_MIN2 10
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param set-default SIM_GZ_EC_MIN3 10
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param set-default SIM_GZ_EC_MIN4 10
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param set-default SIM_GZ_EC_MAX1 1500
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param set-default SIM_GZ_EC_MAX2 1500
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param set-default SIM_GZ_EC_MAX3 1500
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param set-default SIM_GZ_EC_MAX4 1500
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param set-default FD_FAIL_R 70
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param set-default FW_P_TC 0.6
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param set-default FW_PR_I 0.3
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param set-default FW_PR_P 0.5
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param set-default FW_PSP_OFF 2
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param set-default FW_RR_FF 0.1
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param set-default FW_RR_I 0.1
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param set-default FW_RR_P 0.2
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param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
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param set-default FW_YR_I 0
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param set-default FW_THR_TRIM 0.35
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param set-default FW_THR_MAX 0.8
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param set-default FW_THR_MIN 0.05
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param set-default FW_T_CLMB_MAX 6
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param set-default FW_T_HRATE_FF 0.5
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param set-default FW_T_SINK_MAX 3
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param set-default FW_T_SINK_MIN 1.6
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param set-default FW_AIRSPD_STALL 10
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param set-default FW_AIRSPD_MIN 14
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param set-default FW_AIRSPD_TRIM 18
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param set-default FW_AIRSPD_MAX 22
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param set-default MC_AIRMODE 2
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param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
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param set-default MC_ROLL_P 3
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param set-default MC_PITCH_P 3
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param set-default MC_ROLLRATE_P 0.3
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param set-default MC_PITCHRATE_P 0.3
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param set-default VT_ARSP_TRANS 15
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param set-default VT_B_TRANS_DUR 5
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param set-default VT_FW_DIFTHR_EN 7
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param set-default VT_FW_DIFTHR_S_Y 1
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param set-default VT_F_TRANS_DUR 1.5
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param set-default VT_TYPE 0
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param set-default WV_EN 0
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param set-default EKF2_FUSE_BETA 0

‎ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt‎

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@@ -89,6 +89,7 @@ px4_add_romfs_files(
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4015_gz_r1_rover_mecanum
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4016_gz_x500_lidar_down
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4017_gz_x500_lidar_front
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4018_gz_quadtailsitter
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6011_gazebo-classic_typhoon_h480
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6011_gazebo-classic_typhoon_h480.post

‎Tools/simulation/gz‎

‎src/modules/simulation/gz_bridge/GZBridge.cpp‎

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@@ -226,17 +226,15 @@ int GZBridge::init()
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PX4_WARN("failed to subscribe to %s", lidar_sensor.c_str());
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}
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#if 0
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// Airspeed: /world/$WORLD/model/$MODEL/link/airspeed_link/sensor/air_speed/air_speed
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std::string airpressure_topic = "/world/" + _world_name + "/model/" + _model_name +
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"/link/airspeed_link/sensor/air_speed/air_speed";
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std::string airspeed_topic = "/world/" + _world_name + "/model/" + _model_name +
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"/link/airspeed_link/sensor/air_speed/air_speed";
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if (!_node.Subscribe(airpressure_topic, &GZBridge::airspeedCallback, this)) {
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PX4_ERR("failed to subscribe to %s", airpressure_topic.c_str());
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if (!_node.Subscribe(airspeed_topic, &GZBridge::airspeedCallback, this)) {
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PX4_ERR("failed to subscribe to %s", airspeed_topic.c_str());
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return PX4_ERROR;
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}
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#endif
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// Air pressure: /world/$WORLD/model/$MODEL/link/base_link/sensor/air_pressure_sensor/air_pressure
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std::string air_pressure_topic = "/world/" + _world_name + "/model/" + _model_name +
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"/link/base_link/sensor/air_pressure_sensor/air_pressure";
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pthread_mutex_unlock(&_node_mutex);
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}
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#if 0
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void GZBridge::airspeedCallback(const gz::msgs::AirSpeedSensor &air_speed)
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void GZBridge::airspeedCallback(const gz::msgs::AirSpeed &air_speed)
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{
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if (hrt_absolute_time() == 0) {
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return;
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pthread_mutex_unlock(&_node_mutex);
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}
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#endif
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void GZBridge::imuCallback(const gz::msgs::IMU &imu)
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{

‎src/modules/simulation/gz_bridge/GZBridge.hpp‎

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#include <gz/msgs/imu.pb.h>
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#include <gz/msgs/fluid_pressure.pb.h>
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#include <gz/msgs/air_speed.pb.h>
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#include <gz/msgs/model.pb.h>
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#include <gz/msgs/odometry_with_covariance.pb.h>
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#include <gz/msgs/laserscan.pb.h>
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void clockCallback(const gz::msgs::Clock &clock);
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// void airspeedCallback(const gz::msgs::AirSpeedSensor &air_pressure);
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void airspeedCallback(const gz::msgs::AirSpeed &air_speed);
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void barometerCallback(const gz::msgs::FluidPressure &air_pressure);
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void imuCallback(const gz::msgs::IMU &imu);
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void poseInfoCallback(const gz::msgs::Pose_V &pose);
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// Subscriptions
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uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
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//uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
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uORB::Publication<distance_sensor_s> _distance_sensor_pub{ORB_ID(distance_sensor)};
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uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
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uORB::Publication<obstacle_distance_s> _obstacle_distance_pub{ORB_ID(obstacle_distance)};
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uORB::Publication<vehicle_angular_velocity_s> _angular_velocity_ground_truth_pub{ORB_ID(vehicle_angular_velocity_groundtruth)};
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uORB::Publication<vehicle_attitude_s> _attitude_ground_truth_pub{ORB_ID(vehicle_attitude_groundtruth)};

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