gz strivermini initial commit

ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini

@@ -0,0 +1,149 @@
+#!/bin/sh
+#
+# @name SSRC Striver Mini
+#
+# @type Standard VTOL
+# @class VTOL
+#
+# @maintainer
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Aileron 1
+# @output AUX2 Aileron 2
+# @output AUX3 Elevator 1
+# @output AUX4 Elevator 2
+# @output AUX5 Rudder
+# @output AUX6 Throttle
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+# @board holybro_kakutef7 exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=strivermini}
+
+param set-default SIM_GZ_EN 1
+
+# Control allocator parameters
+param set-default CA_AIRFRAME 2
+param set-default CA_ROTOR_COUNT 5
+param set-default CA_ROTOR0_PX 0.37
+param set-default CA_ROTOR0_PY 0.42
+param set-default CA_ROTOR1_PX -0.41
+param set-default CA_ROTOR1_PY -0.42
+param set-default CA_ROTOR2_PX 0.37
+param set-default CA_ROTOR2_PY -0.42
+param set-default CA_ROTOR2_KM -0.05
+param set-default CA_ROTOR3_PX -0.41
+param set-default CA_ROTOR3_PY 0.42
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_AX 1.0
+param set-default CA_ROTOR4_AZ 0.0
+param set-default CA_SV_CS_COUNT 5
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R -0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS3_TYPE 3
+param set-default CA_SV_CS3_TRQ_P -1.0
+param set-default CA_SV_CS4_TYPE 4
+param set-default CA_SV_CS4_TRQ_Y 1.0
+
+# PWM functions
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 201
+param set-default PWM_MAIN_FUNC6 202
+param set-default PWM_MAIN_FUNC7 203
+param set-default PWM_MAIN_FUNC8 204
+param set-default PWM_MAIN_FUNC9 205
+param set-default PWM_MAIN_FUNC10 105
+param set-default PWM_AUX_FUNC1 201
+param set-default PWM_AUX_FUNC2 202
+param set-default PWM_AUX_FUNC3 203
+param set-default PWM_AUX_FUNC4 204
+param set-default PWM_AUX_FUNC5 205
+param set-default PWM_AUX_FUNC6 105
+
+# Start airspeed sensor driver
+ms4525do start -X -f 500
+
+# Airspeed parameters
+param set-default ASPD_DO_CHECKS 15
+param set-default FW_AIRSPD_MAX 22.0
+param set-default FW_AIRSPD_MIN 15.0
+param set-default FW_AIRSPD_STALL 12.0
+param set-default FW_AIRSPD_TRIM 18.0
+
+# Battery parameters
+# Ref: t-drone 22000mah 6s Lion
+param set-default BAT1_N_CELLS 6
+param set-default BAT1_V_CHARGED 4.1
+param set-default BAT1_V_EMPTY 3.2
+param set-default BAT1_V_DIV 18.1
+param set-default BAT1_SOURCE 0
+# Rough guess 50 mOhm
+param set-default BAT1_R_INTERNAL 0.0050
+param set-default BAT1_CAPACITY 22000
+
+# Ref: t-drone 22000mah 6s Lion
+param set-default BAT2_N_CELLS 6
+param set-default BAT2_V_CHARGED 4.1
+param set-default BAT2_V_EMPTY 3.2
+param set-default BAT2_V_DIV 18.1
+param set-default BAT2_SOURCE 0
+# Rough guess 50 mOhm
+param set-default BAT2_R_INTERNAL 0.0050
+param set-default BAT2_CAPACITY 22000
+
+# Disable internal magnetometer
+param set CAL_MAG0_PRIO 0
+
+# Return mode return altitude
+param set-default RTL_RETURN_ALT 30.0
+
+# Fixed wing specific
+param set-default FW_MAN_R_MAX 60.0
+param set-default FW_RR_IMAX 0.4000
+param set-default FW_YR_IMAX 0.4000
+
+# VTOL specific
+# VTOL type
+param set-default VT_TYPE 2
+
+# Airspeed at which we can start blending both fw and mc controls.
+param set-default VT_ARSP_BLEND 10
+
+# Airspeed at which we can switch to fw mode
+param set-default VT_ARSP_TRANS 12
+
+# Back-transition duration
+param set-default VT_B_TRANS_DUR 4
+param set-default VT_B_TRANS_RAMP 3
+
+# Transition duration
+param set-default VT_F_TRANS_DUR 6
+param set-default VT_F_TRANS_THR 1
+
+# VTOL takeoff
+param set-default VTO_LOITER_ALT 20
+
+# QuadChute altitude (transition to quad mode as a failsafe)
+param set-default VT_FW_MIN_ALT 5
+
+# QuadChute angle limits
+param set-default VT_FW_QC_P 35
+param set-default VT_FW_QC_R 60
+
+# Change current sense shunt resistor value
+param set-default INA226_SHUNT 0.0005

packaging/entrypoint_sitl_gzsim.sh

@@ -16,6 +16,10 @@ case $PX4_VEHICLE_TYPE in
     export PX4_SYS_AUTOSTART=4004
     export PX4_GZ_MODEL=standard_vtol
     ;;
+  strivermini)
+    export PX4_SYS_AUTOSTART=4430
+    export PX4_GZ_MODEL=strivermini
+    ;;
   fw)
     export PX4_SYS_AUTOSTART=4003
     export PX4_GZ_MODEL=rc_cessna