A Bridge between Gzsim and Px4 in HITL mode via Mavlink
| Type | Description |
|---|---|
| HIL_ACTUATOR_CONTROLS | Actuator control outputs from PX4 |
| Type | Description |
|---|---|
| HIL_SENSOR | The IMU readings in SI units in NED body frame, Magnetic field, absolute and differential pressure |
| HIL_STATE_QUATERNION | Used mainly to send gz model pose info |
| HIL_GPS | The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the system, but rather a RAW sensor value. Send now mainly to give home GPS coordinate to PX4 |
| Topic name | Type | Description |
|---|---|---|
| /link/base_link/sensor/imu_sensor/imu | gz::msgs::IMU | IMU sensor data |
| /link/base_link/sensor/natsat_sensor/natsat | gz::msgs::Natsat | GPS data |
| /pose/info | gz::msgs::Pose_V | Position and orientation vector of a model |
| Plugin name | Description |
|---|---|
| gz::sim::systems::MulticopterMotorModel | This system applies a thrust force to models with spinning propellers |