sitl: update airframes; gps sim: reduce gaussian noise level

tiiuae · Oct 24, 2023 · 9fc8070 · 9fc8070
1 parent 0c8e31e
commit 9fc8070
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Showing 5 changed files with 69 additions and 43 deletions.
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna b/ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
@@ -11,14 +11,13 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
 
 param set-default SIM_GZ_EN 1
+param set-default SIM_GZ_RUN_GZSIM 0
 
 param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
-
-
 param set-default FW_LND_ANG 8
 
 param set-default NPFG_PERIOD 12

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
@@ -12,9 +12,10 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
 
 param set-default SIM_GZ_EN 1
+param set-default SIM_GZ_RUN_GZSIM 0
 
 param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 

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
@@ -15,6 +15,11 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=skywalker_x8}
 param set-default SIM_GZ_EN 1
 param set-default SIM_GZ_RUN_GZSIM 0
 
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
 # Control allocator parameters
 param set-default CA_AIRFRAME 1
 param set-default CA_ROTOR_COUNT 1
@@ -26,44 +31,65 @@ 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
+# GZ SIM
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_MIN1 0
+param set-default SIM_GZ_EC_MAX1 1000
+
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_FUNC2 202
 
 # 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
+param set-default ASPD_PRIMARY 1
+# 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
+# Maximum landing slope angle in deg
+param set-default FW_LND_ANG 8
 
-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
+# RC loss failsafe to HOLD mode
+param set-default COM_RC_IN_MODE 1
 
-# Disable internal magnetometer
-param set CAL_MAG0_PRIO 0
+# Fixed wing control
+# Pitch rate
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+# Pitch angle in deg
+param set-default FW_PSP_OFF 0
+param set-default FW_P_LIM_MIN -15
+# Roll rate
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+# Yaw rate
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+# Throttle limit
+# param set-default FW_THR_MAX 0.6
+# param set-default FW_THR_MIN 0.05
+# param set-default FW_THR_TRIM 0.25
+# Climb and sink rate
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
 
-# Launch detection
-param set-default FW_LAUN_DETCN_ON 1
+# Navigation
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
 
-# Maximum manual roll angle
-param set-default FW_MAN_R_MAX 60.0
+# Misc
+param set-default MIS_TAKEOFF_ALT 30.0
+param set-default RTL_RETURN_ALT 30.0
 
-# Rate control
-param set-default FW_RR_IMAX 0.4000
-param set-default FW_YR_IMAX 0.4000
+# Disable internal magnetometer
+param set CAL_MAG0_PRIO 0
 
-# Misc
-param set-default RTL_RETURN_ALT 30.0
+# Catapult launch with acc threshold trigger
+param set-default FW_LAUN_DETCN_ON 1
+param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
+param set-default FW_LAUN_AC_THLD 10
diff --git a/packaging/entrypoint_sitl_gzsim.sh b/packaging/entrypoint_sitl_gzsim.sh
@@ -13,12 +13,12 @@ case $PX4_VEHICLE_TYPE in
     export PX4_GZ_MODEL=scout_mini
     ;;
   vtol)
-    export PX4_SYS_AUTOSTART=4430
-    export PX4_GZ_MODEL=striver_mini
+    export PX4_SYS_AUTOSTART=4004
+    export PX4_GZ_MODEL=standard_vtol
     ;;
   fw)
-    export PX4_SYS_AUTOSTART=4440
-    export PX4_GZ_MODEL=skywalker_x8
+    export PX4_SYS_AUTOSTART=4003
+    export PX4_GZ_MODEL=rc_cessna
     ;;
   *)
     echo "ERROR: unknown vehicle type: $PX4_VEHICLE_TYPE"

diff --git a/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp b/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp
@@ -114,9 +114,9 @@ void SensorGpsSim::Run()
 		vehicle_global_position_s gpos{};
 		_vehicle_global_position_sub.copy(&gpos);
 
-		double latitude = gpos.lat + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
-		double longitude = gpos.lon + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
-		float altitude = gpos.alt + (generate_wgn() * 0.5f);
+		double latitude = gpos.lat + math::degrees((double)generate_wgn() * 0.1 / CONSTANTS_RADIUS_OF_EARTH);
+		double longitude = gpos.lon + math::degrees((double)generate_wgn() * 0.1 / CONSTANTS_RADIUS_OF_EARTH);
+		float altitude = gpos.alt + (generate_wgn() * 0.1f);
 
 		Vector3f gps_vel = Vector3f{lpos.vx, lpos.vy, lpos.vz} + noiseGauss3f(0.06f, 0.077f, 0.158f);