sitl: fix fw airspeed sensor and update fw airframe to use skywalker_x8

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

@@ -6,7 +6,7 @@
 # @class Plane
 #
 
-. /etc/init.d/rc.fw_defaults
+. ${R}etc/init.d/rc.fw_defaults
 
 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
 PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
@@ -16,7 +16,7 @@ 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_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
@@ -33,25 +33,28 @@ 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
 param set-default SIM_GZ_SV_FUNC2 202
 
 # Airspeed parameters
 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
+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
 
 # Maximum landing slope angle in deg
 param set-default FW_LND_ANG 8
 
 # RC loss failsafe to HOLD mode
 param set-default COM_RC_IN_MODE 1
 
+# Maximum manual roll angle
+param set-default FW_MAN_R_MAX 60.0
+
 # Fixed wing control
 # Pitch rate
 param set-default FW_PR_P 0.9
@@ -69,10 +72,10 @@ param set-default FW_RR_I 0.5
 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
+#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
@@ -82,14 +85,10 @@ param set-default FW_T_SINK_MIN 2.2
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
+# Launch detection
+param set-default FW_LAUN_DETCN_ON 1
+
 # Misc
-param set-default MIS_TAKEOFF_ALT 30.0
 param set-default RTL_RETURN_ALT 30.0
-
-# Disable internal magnetometer
-param set CAL_MAG0_PRIO 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
+param set-default RTL_DESCEND_ALT 30.0
+param set-default FW_LND_USETER 0

packaging/entrypoint_sitl_gzsim.sh

@@ -17,8 +17,8 @@ case $PX4_VEHICLE_TYPE in
     export PX4_GZ_MODEL=standard_vtol
     ;;
   fw)
-    export PX4_SYS_AUTOSTART=4003
-    export PX4_GZ_MODEL=rc_cessna
+    export PX4_SYS_AUTOSTART=4440
+    export PX4_GZ_MODEL=skywalker_x8
     ;;
   *)
     echo "ERROR: unknown vehicle type: $PX4_VEHICLE_TYPE"

src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp

@@ -144,7 +144,7 @@ void SensorAirspeedSim::Run()
 			// report.timestamp_sample = time;
 			differential_pressure.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION
 			differential_pressure.differential_pressure_pa = (double)diff_pressure * 100.0; // hPa to Pa;
-			differential_pressure.temperature = temperature_local;
+			differential_pressure.temperature = temperature_local - TEMPERATURE_ZERO_C;
 			differential_pressure.timestamp = hrt_absolute_time();
 			_differential_pressure_pub.publish(differential_pressure);
 

src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.hpp

@@ -50,6 +50,7 @@
 using namespace time_literals;
 
 static constexpr float TEMPERATURE_MSL = 288.15; // temperature at MSL [K] (15 [C])
+static constexpr float TEMPERATURE_ZERO_C = 273.15; // temperature at zero degree Celcius [K] (0 [C])
 static constexpr float PRESSURE_MSL = 101325.0; // pressure at MSL [Pa]
 static constexpr float LAPSE_RATE = 0.0065; // reduction in temperature with altitude for troposphere [K/m]
 static constexpr float AIR_DENSITY_MSL = 1.225; // air density at MSL [kg/m^3]