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Add gz model for quadtailsitter #23943

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merged 5 commits into from
Dec 2, 2024
Merged

Add gz model for quadtailsitter #23943

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1ff69ee
Add gazebo airspeed plugin and add a tailsitter model
Perrrewi Nov 11, 2024
b7d02f4
Updated Tools/simulation/gz
Perrrewi Nov 14, 2024
dbfcd50
update to gazebo harmonic message
Perrrewi Nov 15, 2024
3744e36
Disable as side slip fusion is currently not supported for tailsitters
Perrrewi Nov 18, 2024
1ab426e
update gz submodule
Claudio-Chies Dec 2, 2024
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97 changes: 97 additions & 0 deletions ROMFS/px4fmu_common/init.d-posix/airframes/4018_gz_quadtailsitter
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Original file line number Diff line number Diff line change
@@ -0,0 +1,97 @@
#!/bin/sh
#
# @name Quadrotor + Tailsitter
#
# @type VTOL Quad Tailsitter
#

. ${R}etc/init.d/rc.vtol_defaults

PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}

param set-default SIM_GZ_EN 1 # Gazebo bridge

param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0


param set-default MAV_TYPE 20

param set-default CA_AIRFRAME 4

param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.15
param set-default CA_ROTOR0_PY 0.23
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.15
param set-default CA_ROTOR1_PY -0.23
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.15
param set-default CA_ROTOR2_PY -0.23
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.15
param set-default CA_ROTOR3_PY 0.23
param set-default CA_ROTOR3_KM -0.05

param set-default CA_SV_CS_COUNT 0

param set-default SIM_GZ_EC_FUNC1 101
param set-default SIM_GZ_EC_FUNC2 102
param set-default SIM_GZ_EC_FUNC3 103
param set-default SIM_GZ_EC_FUNC4 104

param set-default SIM_GZ_EC_MIN1 10
param set-default SIM_GZ_EC_MIN2 10
param set-default SIM_GZ_EC_MIN3 10
param set-default SIM_GZ_EC_MIN4 10

param set-default SIM_GZ_EC_MAX1 1500
param set-default SIM_GZ_EC_MAX2 1500
param set-default SIM_GZ_EC_MAX3 1500
param set-default SIM_GZ_EC_MAX4 1500

param set-default FD_FAIL_R 70

param set-default FW_P_TC 0.6

param set-default FW_PR_I 0.3
param set-default FW_PR_P 0.5
param set-default FW_PSP_OFF 2
param set-default FW_RR_FF 0.1
param set-default FW_RR_I 0.1
param set-default FW_RR_P 0.2
param set-default FW_YR_FF 0 # make yaw rate controller very weak, only keep default P
param set-default FW_YR_I 0
param set-default FW_THR_TRIM 0.35
param set-default FW_THR_MAX 0.8
param set-default FW_THR_MIN 0.05
param set-default FW_T_CLMB_MAX 6
param set-default FW_T_HRATE_FF 0.5
param set-default FW_T_SINK_MAX 3
param set-default FW_T_SINK_MIN 1.6
param set-default FW_AIRSPD_STALL 10
param set-default FW_AIRSPD_MIN 14
param set-default FW_AIRSPD_TRIM 18
param set-default FW_AIRSPD_MAX 22

param set-default MC_AIRMODE 2
param set-default MAN_ARM_GESTURE 0 # required for yaw airmode
param set-default MC_ROLL_P 3
param set-default MC_PITCH_P 3
param set-default MC_ROLLRATE_P 0.3
param set-default MC_PITCHRATE_P 0.3

param set-default VT_ARSP_TRANS 15
param set-default VT_B_TRANS_DUR 5
param set-default VT_FW_DIFTHR_EN 7
param set-default VT_FW_DIFTHR_S_Y 1
param set-default VT_F_TRANS_DUR 1.5
param set-default VT_TYPE 0

param set-default WV_EN 0

param set-default EKF2_FUSE_BETA 0
1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,7 @@ px4_add_romfs_files(
4015_gz_r1_rover_mecanum
4016_gz_x500_lidar_down
4017_gz_x500_lidar_front
4018_gz_quadtailsitter

6011_gazebo-classic_typhoon_h480
6011_gazebo-classic_typhoon_h480.post
Expand Down
2 changes: 1 addition & 1 deletion Tools/simulation/gz
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Submodule gz updated 8 files
+15 −0 models/airspeed/model.config
+39 −0 models/airspeed/model.sdf
+56 −0 models/quadtailsitter/meshes/body.dae
+160 −0 models/quadtailsitter/meshes/iris_prop_ccw.dae
+160 −0 models/quadtailsitter/meshes/iris_prop_cw.dae
+16 −0 models/quadtailsitter/model.config
+508 −0 models/quadtailsitter/model.sdf
+1 −0 worlds/default.sdf
15 changes: 6 additions & 9 deletions src/modules/simulation/gz_bridge/GZBridge.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -226,17 +226,15 @@ int GZBridge::init()
PX4_WARN("failed to subscribe to %s", lidar_sensor.c_str());
}

#if 0
// Airspeed: /world/$WORLD/model/$MODEL/link/airspeed_link/sensor/air_speed/air_speed
std::string airpressure_topic = "/world/" + _world_name + "/model/" + _model_name +
"/link/airspeed_link/sensor/air_speed/air_speed";
std::string airspeed_topic = "/world/" + _world_name + "/model/" + _model_name +
"/link/airspeed_link/sensor/air_speed/air_speed";

if (!_node.Subscribe(airpressure_topic, &GZBridge::airspeedCallback, this)) {
PX4_ERR("failed to subscribe to %s", airpressure_topic.c_str());
if (!_node.Subscribe(airspeed_topic, &GZBridge::airspeedCallback, this)) {
PX4_ERR("failed to subscribe to %s", airspeed_topic.c_str());
return PX4_ERROR;
}

#endif
// Air pressure: /world/$WORLD/model/$MODEL/link/base_link/sensor/air_pressure_sensor/air_pressure
std::string air_pressure_topic = "/world/" + _world_name + "/model/" + _model_name +
"/link/base_link/sensor/air_pressure_sensor/air_pressure";
Expand Down Expand Up @@ -449,8 +447,8 @@ void GZBridge::barometerCallback(const gz::msgs::FluidPressure &air_pressure)
pthread_mutex_unlock(&_node_mutex);
}

#if 0
void GZBridge::airspeedCallback(const gz::msgs::AirSpeedSensor &air_speed)

void GZBridge::airspeedCallback(const gz::msgs::AirSpeed &air_speed)
{
if (hrt_absolute_time() == 0) {
return;
Expand All @@ -475,7 +473,6 @@ void GZBridge::airspeedCallback(const gz::msgs::AirSpeedSensor &air_speed)

pthread_mutex_unlock(&_node_mutex);
}
#endif

void GZBridge::imuCallback(const gz::msgs::IMU &imu)
{
Expand Down
5 changes: 3 additions & 2 deletions src/modules/simulation/gz_bridge/GZBridge.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,6 +68,7 @@

#include <gz/msgs/imu.pb.h>
#include <gz/msgs/fluid_pressure.pb.h>
#include <gz/msgs/air_speed.pb.h>
#include <gz/msgs/model.pb.h>
#include <gz/msgs/odometry_with_covariance.pb.h>
#include <gz/msgs/laserscan.pb.h>
Expand Down Expand Up @@ -106,7 +107,7 @@ class GZBridge : public ModuleBase<GZBridge>, public ModuleParams, public px4::S

void clockCallback(const gz::msgs::Clock &clock);

// void airspeedCallback(const gz::msgs::AirSpeedSensor &air_pressure);
void airspeedCallback(const gz::msgs::AirSpeed &air_speed);
void barometerCallback(const gz::msgs::FluidPressure &air_pressure);
void imuCallback(const gz::msgs::IMU &imu);
void poseInfoCallback(const gz::msgs::Pose_V &pose);
Expand Down Expand Up @@ -167,8 +168,8 @@ class GZBridge : public ModuleBase<GZBridge>, public ModuleParams, public px4::S
// Subscriptions
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};

//uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
uORB::Publication<distance_sensor_s> _distance_sensor_pub{ORB_ID(distance_sensor)};
uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
uORB::Publication<obstacle_distance_s> _obstacle_distance_pub{ORB_ID(obstacle_distance)};
uORB::Publication<vehicle_angular_velocity_s> _angular_velocity_ground_truth_pub{ORB_ID(vehicle_angular_velocity_groundtruth)};
uORB::Publication<vehicle_attitude_s> _attitude_ground_truth_pub{ORB_ID(vehicle_attitude_groundtruth)};
Expand Down
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