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improve support for VTOL and Fixed-wing in SITL #652

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Mar 11, 2024
Merged

improve support for VTOL and Fixed-wing in SITL #652

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39 changes: 19 additions & 20 deletions ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8
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Original file line number Diff line number Diff line change
Expand Up @@ -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}
Expand All @@ -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

Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
4 changes: 2 additions & 2 deletions packaging/entrypoint_sitl_gzsim.sh
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Expand Up @@ -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"
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2 changes: 1 addition & 1 deletion src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp
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Expand Up @@ -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);

Expand Down
1 change: 1 addition & 0 deletions src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.hpp
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Expand Up @@ -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]
Expand Down
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