tested once

configs/ardupilot_dronecan_params.yaml

@@ -0,0 +1,88 @@
+FRAME_CLASS         : 1.0         # Quadcopter
+CAN_D1_PROTOCOL     : 1.0         # DroneCAN
+CAN_D2_PROTOCOL     : 0.0         # Disable
+CAN_P1_DRIVER       : 1.0         # First driver
+CAN_P1_BITRATE      : 1000000.0
+BRD_SAFETY_DEFLT    : 0.0         # Disabled
+FS_THR_ENABLE       : 0.0         # Disabled
+GPS_TYPE            : 9.0         # DroneCAN
+ATC_RAT_RLL_P       : 0.08
+
+CAN_D1_UC_ESC_BM    : 15.0        # For a Quadcopter
+
+# Disable board sensors
+EK3_IMU_MASK        : 1.0
+INS_ENABLE_MASK     : 1.0
+INS_USE             : 1.0        # Enabled
+INS_USE2            : 0.0        # Disabled
+INS_USE3            : 0.0        # Disabled
+
+# Use HITL Compass
+# bus_type : 3;
+# bus: 5;    // which instance of the bus type
+# address;   // address on the bus (eg. I2C address)
+# devtype;   // device class specific device type
+# uint32_t gyro_id = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_UAVCAN, bus_id, 1, DEVTYPE_UAVCAN);
+# BUS_TYPE_UAVCAN  = 3
+# DEVTYPE_UAVCAN = 0x3D
+# ID = bus_type * (1 << 0) + bus * (1 << 3) + address * (1 << 8) + devtype * (1 << 8)
+# bus_type = devid % 8 = 3
+# bus = (devid >> 3) % 32 = 64
+# address = (devid >> 8) % 256 = 42
+# devtype = (devid >> 16) % 256 = 1 = 0x3D
+
+# CUAV X7:
+# SPI Compass     devid=1114642  bus_type=2 (SPI), bus=2, address=2    devtype=17
+# CAN Compass     devid=76291    bus_type=3 (CAN), bus=0, address=42   devtype=1
+# INS             devid=3211786  bus_type=2 (CAN), bus=1, address=2    devtype=49
+
+COMPASS_DEV_ID      : 76291.0    # DroneCAN magnetometer
+COMPASS_PRIO1_ID    : 76291.0
+COMPASS_USE         : 1.0
+COMPASS_USE2        : 0.0
+COMPASS_USE3        : 0.0
+COMPASS_EXTERNAL    : 1.0
+COMPASS_EXTERN2     : 0.0
+COMPASS_EXTERN3     : 0.0
+COMPASS_USE         : 1.0
+COMPASS_USE2        : 0.0
+COMPASS_USE3        : 0.0
+COMPASS_DEC         : 0.0
+
+COMPASS_DIA_X       : 0.999
+COMPASS_DIA_Y       : 0.999
+COMPASS_DIA_Z       : 0.999
+
+COMPASS_ODI_X       : 0.001
+COMPASS_ODI_Y       : 0.001
+COMPASS_ODI_Z       : 0.001
+
+COMPASS_OFS_X       : 0.001
+COMPASS_OFS_Y       : 0.001
+COMPASS_OFS_Z       : 0.001
+
+# Use HITL IMU
+AHRS_TRIM_X         : 0.000214698069612496
+AHRS_TRIM_Y         : 0.000064728621509857
+AHRS_TRIM_Z         : 0.000000000000000000
+
+# INS
+# Use DroneCAN HITL IMU: accel=3997955, gyro=3998211.
+# bus_type = devid % 8 = 3
+# bus = (devid >> 3) % 32 = 64
+# address = (devid >> 8) % 256 = 42
+# devtype = (devid >> 16) % 256 = 1 = 0x3D
+# DroneCAN Accel devid=3997955  bus_type=3 (BUS_TYPE_UAVCAN), bus=0, address=1    devtype=61 (DEVTYPE_UAVCAN)
+# DroneCAN Gyro  devid=3998211  bus_type=3 (BUS_TYPE_UAVCAN), bus=0, address=2    devtype=61 (DEVTYPE_UAVCAN)
+INS_ACC1_CALTEMP    : 0.000
+INS_ACCOFFS_X       : 0.001
+INS_ACCOFFS_Y       : 0.001
+INS_ACCOFFS_Z       : 0.001
+INS_ACCSCAL_X       : 0.999
+INS_ACCSCAL_Y       : 0.999
+INS_ACCSCAL_Z       : 0.999
+
+INS_GYR1_CALTEMP    : 0.000
+INS_GYROFFS_X       : 0.001
+INS_GYROFFS_Y       : 0.001
+INS_GYROFFS_Z       : 0.001

configs/dynamics/quadcopter_ardupilot/params.yaml

@@ -1,20 +1,36 @@
-vehicle_mass :              1.5       # kg
+vehicle_mass :              2.0       # kg
+
+# This represents the response time of the motor to changes in input for brushless motors with ESCs
+# Higher-quality ESCs and motors may have a faster response (closer to 0.02 sec).
+# Slower or less efficient systems may be closer to 0.05 sec.
 motor_time_constant:        0.02      # sec
+
+# For a standard 10–12 inch propeller
+# This is the rotational inertia of the motor and propeller system.
+# It depends on the size and weight of the propeller and motor rotor:
+# Typical value: 0.00002–0.00006 kg·m²
+# Smaller drones with lighter props will have lower values.
 motor_rotational_inertia:   6.62e-6   # kg m^2
 thrust_coefficient:         1.91e-6   # N/(rad/s)^2"
 torque_coefficient:         2.6e-7    # Nm/(rad/s)^2
 drag_coefficient:           0.1       # N/(m/s)
 aeromoment_coefficient_xx:  0.003     # Nm/(rad/s)^2
 aeromoment_coefficient_yy:  0.003     # Nm/(rad/s)^2
 aeromoment_coefficient_zz:  0.003     # Nm/(rad/s)^2
-vehicle_inertia_xx:         0.0100    #
-vehicle_inertia_yy:         0.0100    #
-vehicle_inertia_zz:         0.0150    #
+vehicle_inertia_xx:         0.045     # kg * m^2
+vehicle_inertia_yy:         0.045     # kg * m^2
+
+# Low value -> the yaw oscillations.
+# High value -> slow response on yaw inputs and it may feel "lazy" in maintaining the commanded yaw angle.
+vehicle_inertia_zz:         0.045     # kg * m^2
+
 max_prop_speed:             2200      # rad/s
 moment_process_noise:       1.25e-7   # (Nm)^2 s
 force_process_noise:        0.0005    # N^2 s"
 
-moment_arm:                 0.08      # m
+# The perpendicular distance between a force's line of action (such as thrust
+# or lift) and the center of mass (or the axis of rotation) of the UAV
+moment_arm:                 0.35      # m
 
 accelerometer_biasprocess:  0.0       # m^2/s^5, 1.0e-7
 gyroscope_biasprocess:      0.0       # rad^2/s^3, 1.0e-7

configs/vehicles/ap_copter_v4_5_7_dronecan.yaml

@@ -0,0 +1,5 @@
+params:
+mode: dronecan
+alias: ac
+sim_config: ap_copter_v4_5_7_dronecan
+info: ""

scripts/run_sim.sh

@@ -112,6 +112,18 @@ px4_v1_15_0_dronecan_quadrotor() {
         dynamics:=quadcopter
 }
 
+ap_copter_v4_5_7_dronecan() {
+    setup_ros
+    setup_dronecan_hitl
+    $SCRIPT_DIR/airframe_printer.sh 4001
+    roslaunch innopolis_vtol_dynamics hitl.launch   \
+        run_dronecan_communicator:=true             \
+        logging_type:=quadcopter                    \
+        vehicle_params:=$DYNAMICS_CONFIGS_DIR/quadcopter_ardupilot/params.yaml \
+        mixer:=direct_mixer                         \
+        dynamics:=quadcopter
+}
+
 px4_v1_15_0_cyphal_quadcopter() {
     setup_ros
     setup_cyphal_hitl
@@ -189,7 +201,7 @@ px4_v1_15_0_mavlink_quadcopter() {
     roslaunch innopolis_vtol_dynamics sitl.launch   \
         logging_type:=quadcopter                    \
         sitl_vehicle:=iris                          \
-        vehicle_params:=$REPO_DIR/configs/dynamics/quadcopter_iris_px4/params.yaml \
+        vehicle_params:=$DYNAMICS_CONFIGS_DIR/quadcopter_iris_px4/params.yaml \
         mixer:=direct_mixer                         \
         dynamics:=quadcopter                        \
         run_sitl_flight_stack:="false"
@@ -203,13 +215,16 @@ fi
 SCRIPT_DIR="$(dirname "$0")"
 REPO_DIR="$(dirname "$SCRIPT_DIR")"
 VEHICLE_PARAMS_DIR=$REPO_DIR/uav_dynamics/uav_hitl_dynamics/config/vehicle_params
+DYNAMICS_CONFIGS_DIR=$REPO_DIR/configs/dynamics
 
 if [ "$1" = "px4_v1_15_0_dronecan_quadplane_vtol" ]; then
     px4_v1_15_0_dronecan_quadplane_vtol
 elif [ "$1" = "px4_v1_13_0_dronecan_vtol" ]; then
     px4_v1_13_0_dronecan_vtol
 elif [ "$1" = "px4_v1_15_0_dronecan_quadrotor" ]; then
     px4_v1_15_0_dronecan_quadrotor
+elif [ "$1" = "ap_copter_v4_5_7_dronecan" ]; then
+    ap_copter_v4_5_7_dronecan
 elif [ "$1" = "px4_v1_15_0_cyphal_quadcopter" ]; then
     px4_v1_15_0_cyphal_quadcopter
 elif [ "$1" = "px4_v1_15_0_cyphal_octorotor" ]; then