sitl: add support for gz sim with ssrc models and px4 sitl build/launch

ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_fog_x

@@ -0,0 +1,70 @@
+#!/bin/sh
+#
+# @name Gazebo x500
+#
+# @type Quadrotor x
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=holybro-x500}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+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 0.175
+param set-default CA_ROTOR0_PY 0.175
+param set-default CA_ROTOR0_KM  0.05
+
+param set-default CA_ROTOR1_PX -0.175
+param set-default CA_ROTOR1_PY -0.175
+param set-default CA_ROTOR1_KM  0.05
+
+param set-default CA_ROTOR2_PX 0.175
+param set-default CA_ROTOR2_PY -0.175
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.175
+param set-default CA_ROTOR3_PY 0.175
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default SIM_GZ_FUNC1 101
+param set-default SIM_GZ_FUNC2 102
+param set-default SIM_GZ_FUNC3 103
+param set-default SIM_GZ_FUNC4 104
+
+param set-default SIM_GZ_MIN1 150
+param set-default SIM_GZ_MIN2 150
+param set-default SIM_GZ_MIN3 150
+param set-default SIM_GZ_MIN4 150
+
+param set-default SIM_GZ_MAX1 1000
+param set-default SIM_GZ_MAX2 1000
+param set-default SIM_GZ_MAX3 1000
+param set-default SIM_GZ_MAX4 1000
+
+param set-default MPC_THR_HOVER 0.60
+
+# extra
+param set COM_RCL_EXCEPT 4
+param set NAV_DLL_ACT 0
+param set NAV_RCL_ACT 0
+param set MAV_0_BROADCAST 1
+param set IMU_GYRO_CUTOFF 60
+param set IMU_DGYRO_CUTOFF 30
+param set MC_ROLLRATE_P 0.14
+param set MC_PITCHRATE_P 0.14
+param set MC_ROLLRATE_I 0.3
+param set MC_PITCHRATE_I 0.3
+param set MC_ROLLRATE_D 0.004
+param set MC_PITCHRATE_D 0.004
+param set BAT_N_CELLS 4
+param set SDLOG_MODE 0

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

@@ -0,0 +1,109 @@
+#!/bin/sh
+#
+# @name Striver mini VTOL
+#
+# @type Standard VTOL
+# @class VTOL
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=striver_mini}
+
+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_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
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_V_CHARGED 4.2
+param set-default BAT1_V_EMPTY 3.6
+param set-default BAT1_V_DIV 18.1
+
+# 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

ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8

@@ -0,0 +1,68 @@
+#!/bin/sh
+#
+# @name SSRC Skywalker X8
+#
+# @type Flying Wing
+# @class Plane
+#
+
+. /etc/init.d/rc.fw_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=skywalker_x8}
+
+param set-default SIM_GZ_EN 1
+
+# Control allocator parameters
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_R 0.5
+
+# PWM
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_FUNC4 101
+param set-default PWM_AUX_FUNC1 201
+param set-default PWM_AUX_FUNC2 202
+param set-default PWM_AUX_FUNC4 101
+
+# Airspeed parameters
+sdp3x start -X -f 400
+param set-default ASPD_DO_CHECKS 15
+param set-default FW_AIRSPD_MAX 22.0
+param set-default FW_AIRSPD_MIN 14.0
+param set-default FW_AIRSPD_STALL 12.0
+param set-default FW_AIRSPD_TRIM 18.0
+
+# Battery parameters
+param set-default BAT1_N_CELLS 4
+param set-default BAT1_R_INTERNAL 0.0050
+param set-default BAT1_V_EMPTY 3.6000
+param set-default BAT1_V_LOAD_DROP 0.1000
+
+param set-default BAT2_R_INTERNAL 0.0050
+param set-default BAT2_V_EMPTY 3.6000
+param set-default BAT2_V_LOAD_DROP 0.1000
+
+# Disable internal magnetometer
+param set CAL_MAG0_PRIO 0
+
+# Launch detection
+param set-default FW_LAUN_DETCN_ON 1
+
+# Maximum manual roll angle
+param set-default FW_MAN_R_MAX 60.0
+
+# Rate control
+param set-default FW_RR_IMAX 0.4000
+param set-default FW_YR_IMAX 0.4000
+
+# Misc
+param set-default RTL_RETURN_ALT 30.0

ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini_rover

@@ -0,0 +1,72 @@
+#!/bin/sh
+#
+# @name SSRC SCOUT MINI UGV
+#
+# @url https://global.agilex.ai/products/scout-mini
+#
+# @type Rover
+# @class Rover
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=scout_mini}
+
+param set-default SIM_GZ_EN 1
+
+param set-default CA_AIRFRAME 6
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+
+param set IMU_GYRO_CUTOFF 60
+param set IMU_DGYRO_CUTOFF 30
+
+param set-default SYS_HAS_BARO 0
+
+param set-default BAT1_N_CELLS 4
+
+param set-default MIS_TAKEOFF_ALT 0.01
+
+param set-default NAV_ACC_RAD 0.5     # reached when within 0.5m of waypoint
+
+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
+# EKF2
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_MAG_TYPE 1
+param set-default EKF2_REQ_SACC 1.0
+param set-default EKF2_REQ_VDRIFT 0.4
+param set-default EKF2_REQ_HDRIFT 0.2
+
+
+#################################
+# Rover Position Control Module #
+#################################
+
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 3
+param set-default GND_THR_CRUISE 1
+param set-default GND_THR_MAX 1
+
+# Because this is differential drive, it can make a turn with radius 0.
+# This corresponds to a turn angle of pi radians.
+# If a special case is made for differential-drive, this will need to change.
+param set-default GND_MAX_ANG 3.142
+param set-default GND_WHEEL_BASE 0.45
+
+# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
+# to support negative throttle.
+param set-default GND_THR_MIN 0
+param set-default GND_SPEED_P 0.4
+param set-default GND_SPEED_I 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_IMAX 1
+param set-default GND_SPEED_MAX 1
+param set-default GND_SPEED_THR_SC 1

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

@@ -79,6 +79,10 @@ px4_add_romfs_files(
 	4004_gz_standard_vtol
 	4005_gz_x500_vision
 	4006_gz_px4vision
+	4401_gz_ssrc_fog_x
+	4430_gz_ssrc_striver_mini
+	4440_gz_ssrc_skywalker_x8
+	50005_gz_ssrc_scout_mini_rover
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post