From 97594dbf9ff95ff66e79093c08d4df3e2a97f59c Mon Sep 17 00:00:00 2001 From: haitomatic Date: Mon, 11 Mar 2024 11:01:44 +0000 Subject: [PATCH] exp --- .../init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 | 4 +++- src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp | 3 ++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 index f5a787e8376d..faaa438d531c 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 @@ -33,7 +33,7 @@ param set-default CA_SV_CS1_TRQ_R 0.5 # GZ SIM param set-default SIM_GZ_EC_FUNC1 101 -param set-default SIM_GZ_EC_MIN1 0 +param set-default SIM_GZ_EC_MIN1 150 param set-default SIM_GZ_EC_MAX1 1000 param set-default SIM_GZ_SV_FUNC1 201 @@ -90,3 +90,5 @@ param set-default FW_LAUN_DETCN_ON 1 # Misc param set-default RTL_RETURN_ALT 30.0 +param set-default RTL_DESCEND_ALT 30.0 +param set-default FW_LND_USETER 0 diff --git a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp index 38eeadf11ffe..73823d460e63 100644 --- a/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp +++ b/src/modules/simulation/gz_bridge/GZMixingInterfaceESC.cpp @@ -103,7 +103,7 @@ void GZMixingInterfaceESC::motorSpeedCallback(const gz::msgs::Actuators &actuato } pthread_mutex_lock(&_node_mutex); - + px4_info("motorSpeedCallback"); esc_status_s esc_status{}; esc_status.esc_count = actuators.velocity_size(); @@ -114,6 +114,7 @@ void GZMixingInterfaceESC::motorSpeedCallback(const gz::msgs::Actuators &actuato if (actuators.velocity(i) > 0) { esc_status.esc_armed_flags |= 1 << i; + px4_info("ESC %d: %d RPM", i, actuators.velocity(i)); } }