Adding quadtailsitter to gz-sim

PX4 · Nov 14, 2024 · 5abdc0c · 5abdc0c
1 parent 9e47793
commit 5abdc0c
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diff --git a/models/airspeed/model.config b/models/airspeed/model.config
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>airspeed</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+   <name>Jaeyoung Lim</name>
+   <email>[email protected]</email>
+  </author>
+
+  <description>
+    Airspeed sensor model
+  </description>
+</model>
diff --git a/models/airspeed/model.sdf b/models/airspeed/model.sdf
@@ -0,0 +1,39 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <model name="airspeed">
+    <link name="airspeed_link">
+      <pose>0 0 0 0 0 0</pose>
+      <inertial>
+        <pose>0 0 0 0 0 0</pose>
+        <mass>0.015</mass>
+        <inertia>
+          <ixx>1e-05</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1e-05</iyy>
+          <iyz>0</iyz>
+          <izz>1e-05</izz>
+        </inertia>
+      </inertial>
+      <visual name="visual">
+        <pose>0 0 0 0 1.57 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.004</radius>
+            <length>0.08</length>
+          </cylinder>
+        </geometry> <!-- Black -->
+				<material>
+					<diffuse>0.0 0.0 0.0</diffuse>
+					<specular>0.5 0.5 0.5</specular>
+				</material>
+      </visual>
+      <sensor name="air_speed" type="air_speed">
+        <pose>0 0 0 0 0 0</pose>
+        <update_rate>5.0</update_rate>
+        <always_on>1</always_on>
+        <visualize>false</visualize>
+      </sensor>
+    </link>
+  </model>
+</sdf>
diff --git a/models/quadtailsitter/meshes/body.dae b/models/quadtailsitter/meshes/body.dae
diff --git a/models/quadtailsitter/meshes/iris_prop_ccw.dae b/models/quadtailsitter/meshes/iris_prop_ccw.dae
diff --git a/models/quadtailsitter/meshes/iris_prop_cw.dae b/models/quadtailsitter/meshes/iris_prop_cw.dae
diff --git a/models/quadtailsitter/model.config b/models/quadtailsitter/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<model>
+  <name>quadtailsitter</name>
+  <version>1.0</version>
+  <sdf version='1.6'>model.sdf</sdf>
+
+  <author>
+   <name>Jaeyoung Lim</name>
+   <email>[email protected]</email>
+  </author>
+
+  <description>
+    This is a model of a quad tailsitter, modelling the Swan K1.
+    Model provided by Holybro
+  </description>
+</model>