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새 모델은 어떻게 만들지..?
그냥 이 글을 따라가보자. [2]
모델 만들기
1. PX4의 Gazebo model directory 에 sdf 파일을 추가한다.
(Root/Tools/simulation/gz/models/**)
구성파일 만들기
2. airframe configuration file 만들기
펌웨어게 프레임 구성을 추가하려면..
2.1. init.d/airframes 폴더에 새로운 구성 파일을 만든다.
- 짧게 묘사하는 파일 이름을 만들고 파일 이름 앞에 안 쓰는 autostart ID를 추가한다.(예를 들면, 1033092_superfast_vtol)
- 파일에 구성 매개변수와 앱을 추가한다.
2.2 새 프레임 구성파일의 이름을 CMakeLists.txt 의 기체 타입과 관련 있는 섹션에 추가한다.
2.3 Build and upload the software.
3. 기체 프레임 구성파일에 Gazebo용 기본 매개변수를 정의한다.
PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=<MODEL_NAME>}PX4_SIMULATOR:=gz
해당 기체 프레임으로 Gazebo를 기본 시뮬레이터로 설정
PX4_GZ_WORLD:=default
해당 기체 프레임의 기본 world 를 설정
PX4_SIM_MODEL:=<MODEL_NAME>
Gazebo model directory (Root/Tools/simulation/gz/models/**) 에 Gazebo 모델을 설정
Make a sample model refering from Standard VTOL [1]
After this post, I'll make a model like XIAKE800
'cause I already made an parameter file at this post, It will be a good reference.
Loadmap
- Make an Airframe Configuration.
- Add an Airframe Configuration
- Add the name of the new frame configuration file to the CMakeLists.txt on init.d (For real vehicle)
- Add the name of the new frame configuration file to the CMakeLists.txt on init.d-posix (For simulation vehicle)
- Make a Gazebo Model
- Collect aircraft properties (inertia, motor/prop, control surfaces)
- Modify sdf file.
- Add the name of the new moel to the CMake file (sitl_targets_gazebo-classic.cmake)
Make a XIAKE800
From Tiltrotor model (quad-plane, front twin-tilt rotor), make Xiake800 Gazebo model.
(It placed at /PX4-Autopilot/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/tiltrotor)
Model tree is shown below :
- model : tiltrotor
- links : base_link
- joints
- sensors (Airspeed sensor, IMU, GPS...)
- Links and Joints (for geometry. motor, rotor, wing, control surfaces)
- Plugins
- LiftDrag (Aerodynamics)
- gazebo_motor_model (Rotor model)
- groundtruth
- magnetometer
- barometer
- mavlink_interface
Link-Joint tree is shown below :
- base_link
- motor_0_joint - motor_0_link (tilting joint)
- rotor_0_joint - rotor_0_link (tilting rotor)
- motor_2_joint - motor_2_link (tilting joint)
- rotor_2_joint - rotor_2_link (tilting rotor)
- rotor_1_joint - rotor_1_link (fixed rotor)
- rotor_3_joint - rotor_3_link (fixed rotor)
- left_elevon_joint - left_elevon_link
- right_elevon_joint - right_elevon_link
- motor_0_joint - motor_0_link (tilting joint)
Note. that model describes rudder, but it don't be allowed to be controlled on mavlink_interface.
At airframe folder, tiltrotor airframe configuration is placed.
: 1042_gazebo-classic_tiltrotor
더보기
. ${R}etc/init.d/rc.vtol_defaults
param set-default MAV_TYPE 21
param set-default CA_AIRFRAME 3
param set-default CA_ROTOR_COUNT 4
param set-default CA_ROTOR0_PX 0.1515
param set-default CA_ROTOR0_PY 0.245
param set-default CA_ROTOR0_KM 0.05
param set-default CA_ROTOR1_PX -0.1515
param set-default CA_ROTOR1_PY -0.1875
param set-default CA_ROTOR1_KM 0.05
param set-default CA_ROTOR2_PX 0.1515
param set-default CA_ROTOR2_PY -0.245
param set-default CA_ROTOR2_KM -0.05
param set-default CA_ROTOR3_PX -0.1515
param set-default CA_ROTOR3_PY 0.1875
param set-default CA_ROTOR3_KM -0.05
param set-default CA_ROTOR0_TILT 1
param set-default CA_ROTOR2_TILT 2
param set-default CA_SV_CS0_TRQ_R -0.5
param set-default CA_SV_CS0_TYPE 1
param set-default CA_SV_CS1_TRQ_R 0.5
param set-default CA_SV_CS1_TYPE 2
param set-default CA_SV_CS2_TRQ_P 1.0
param set-default CA_SV_CS2_TYPE 3
param set-default CA_SV_CS_COUNT 3
param set-default CA_SV_TL_COUNT 2
param set-default PWM_MAIN_FUNC1 101
param set-default PWM_MAIN_FUNC2 102
param set-default PWM_MAIN_FUNC3 103
param set-default PWM_MAIN_FUNC4 104
param set-default PWM_MAIN_FUNC5 204
param set-default PWM_MAIN_FUNC6 205
param set-default PWM_MAIN_FUNC7 201
param set-default PWM_MAIN_FUNC8 202
param set-default PWM_MAIN_FUNC9 203
param set-default NPFG_PERIOD 12
param set-default FW_PR_FF 0.2
param set-default FW_PR_P 0.9
param set-default FW_PSP_OFF 2
param set-default FW_P_LIM_MIN -15
param set-default FW_RR_FF 0.1
param set-default FW_RR_P 0.3
param set-default FW_THR_TRIM 0.38
param set-default FW_THR_MAX 0.6
param set-default FW_THR_MIN 0.05
param set-default FW_T_CLMB_MAX 8
param set-default FW_T_SINK_MAX 2.7
param set-default FW_T_SINK_MIN 2.2
param set-default MC_AIRMODE 1
param set-default MC_YAWRATE_P 0.3
param set-default MC_YAWRATE_I 0.3
param set-default MPC_XY_VEL_P_ACC 3
param set-default MPC_XY_VEL_I_ACC 4
param set-default MPC_XY_VEL_D_ACC 0.1
param set-default MIS_TAKEOFF_ALT 10
param set-default VT_FWD_THRUST_EN 4
param set-default VT_FWD_THRUST_SC 0.6
param set-default VT_TILT_TRANS 0.6
param set-default VT_TYPE 1
For real world, tiltrotor airframe configuration is placed at this airframe folder
: 13030_generic_vtol_quad_tiltrotor
On QGC, you can see Control Allocation Status.
From this post, motor configuration and order would be modified.
| PWM Channel | Actuator | Allocated Name | Direction | Disarm us |
| PWM1 | TR: Tail Rotor | Motor1 (M1) | CCW | |
| PWM2 | RR : Right Rotor | Motor2 (M2) | CCW | |
| PWM3 | LE : Left Elevon | Servo1 (S1) | Reversed | 1500 |
| PWM4 | LT : Left Tilting | Servo3 (T1) | Reversed | 2000 |
| PWM5 | (TT : Tail Tilting) | Disable (Servo5, T3) | ||
| PWM6 | RE : Right Elevon | Servo2 (S2) | 1500 | |
| PWM7 | RT : Right Tilting | Servo4 (T2) | 1000 | |
| PWM8 | LR : Left Rotor | Motor3 (M3) | CW |
I define geometry. Frame convention follows [Forward X, Right Y, Upsize Z]. Negative value is bold for readability.
| link | position | input index | motor number |
maxRotVelocity input_scaling |
link/plugin name |
| rotor_0 | [-0.40,+0.00,+0.07] | 0 | 0 | 2300 | back_motor_model |
| motor_1 | [+0.35,-0.35,+0.02] | 6 | - | motor_1_tilt | |
| rotor_1 | [+0.35,-0.35,+0.07] | 1 | 1 | 1800 | front_right_motor_model |
| motor_2 | [+0.35,+0.35,+0.02] | 3 | - | motor_2_tilt | |
| rotor_2 | [+0.35,+0.35,+0.07] | 7 | 2 | 1800 | front_left_motor_model |
| left_elevon | default | 2 | - | left_elevon | |
| right_elevon | default | 5 | - | right_elevon | |
Link-Joint tree is shown below :
- base_link
- rotor_0_joint - rotor_0_link (fixed rotor)
- motor_1_joint - motor_1_link (tilting joint)
- rotor_1_joint - rotor_1_link (tilting rotor)
- motor_2_joint - motor_2_link (tilting joint)
- rotor_2_joint - rotor_2_link (tilting rotor)
- left_elevon_joint - left_elevon_link
- right_elevon_joint - right_elevon_link
Model file is below :
Note. This model has a big problem. It works well on multi-rotor mode. but, transition and fixed-wing mode don't work.
더보기
<!-- DO NOT EDIT: Generated from standard_vtol.sdf.jinja -->
<sdf version='1.5'>
<model name='xiake1k'>
<pose>0 0 0.246 0 0 0</pose>
<link name='base_link'>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>3</mass>
<inertia>
<ixx>0.197563</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1458929</iyy>
<iyz>0</iyz>
<izz>0.1477</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose>-0.01 0 -0.08 0 0 0</pose>
<geometry>
<box>
<size>0.55 2.144 0.05</size>
</box>
</geometry>
<surface>
<contact>
<ode>
<kp>100000</kp>
<kd>1.0</kd>
<max_vel>0.1</max_vel>
<min_depth>0.001</min_depth>
</ode>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='base_link_visual'>
<pose>0.53 -1.072 -0.1 1.5707963268 0 3.1415926536</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://xiake1k/meshes/x8_wing.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/DarkGrey</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<visual name='left_motor_column'>
<pose>0.20 0.35 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.40 0.03 0.03</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/SkyBlue</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<visual name='right_motor_column'>
<pose>0.20 -0.35 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.40 0.03 0.03</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/SkyBlue</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<link name='xiake1k/imu_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>
</link>
<joint name='xiake1k/imu_joint' type='revolute'>
<child>xiake1k/imu_link</child>
<parent>base_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>0</lower>
<upper>0</upper>
<effort>0</effort>
<velocity>0</velocity>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<include>
<uri>model://airspeed</uri>
<pose>0 0 0 0 0 0</pose>
<name>airspeed</name>
</include>
<joint name='airspeed_joint' type='fixed'>
<child>airspeed::link</child>
<parent>base_link</parent>
</joint>
<include>
<uri>model://gps</uri>
<pose>0 0 0 0 0 0</pose>
<name>gps</name>
</include>
<joint name='gps_joint' type='fixed'>
<child>gps::link</child>
<parent>base_link</parent>
</joint>
<link name='motor_2'>
<pose>0.35 +0.35 0.02 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.05</mass>
<inertia>
<ixx>0.0166704</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0166704</iyy>
<iyz>0</iyz>
<izz>0.0167604</izz>
</inertia>
</inertial>
<collision name='motor_2_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.035</length>
<radius>0.02</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_2_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.035</length>
<radius>0.02</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='motor_2_joint' type='revolute'>
<child>motor_2</child>
<parent>base_link</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1.570795</lower>
<upper>+1.570795</upper>
</limit>
<dynamics>
<friction>1.0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='rotor_2'>
<pose>0.35 +0.35 0.10 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000166704</iyy>
<iyz>0</iyz>
<izz>0.000167604</izz>
</inertia>
</inertial>
<collision name='rotor_2_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='rotor_2_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://xiake1k/meshes/iris_prop_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_2_joint' type='revolute'>
<child>rotor_2</child>
<parent>motor_2</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='rotor_0'>
<pose>-0.40 0.0 0.07 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000166704</iyy>
<iyz>0</iyz>
<izz>0.000167604</izz>
</inertia>
</inertial>
<collision name='rotor_0_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='rotor_0_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://xiake1k/meshes/iris_prop_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Orange</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_0_joint' type='revolute'>
<child>rotor_0</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='motor_1'>
<pose>0.35 -0.35 0.02 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.05</mass>
<inertia>
<ixx>0.0166704</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0166704</iyy>
<iyz>0</iyz>
<izz>0.0167604</izz>
</inertia>
</inertial>
<collision name='motor_1_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.035</length>
<radius>0.02</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='motor_1_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.035</length>
<radius>0.02</radius>
</cylinder>
</geometry>
<material>
<script>
<name>Gazebo/Red</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='motor_1_joint' type='revolute'>
<child>motor_1</child>
<parent>base_link</parent>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<!-- 1.570795 : 180 deg-->
<lower>-1.570795</lower>
<upper>+1.570795</upper>
</limit>
<dynamics>
<friction>1.0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name='rotor_1'>
<pose>0.35 -0.35 0.10 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.005</mass>
<inertia>
<ixx>9.75e-07</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.000166704</iyy>
<iyz>0</iyz>
<izz>0.000167604</izz>
</inertia>
</inertial>
<collision name='rotor_1_collision'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<length>0.005</length>
<radius>0.1</radius>
</cylinder>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
</friction>
</surface>
</collision>
<visual name='rotor_1_visual'>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>model://xiake1k/meshes/iris_prop_ccw.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Orange</name>
<uri>__default__</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<joint name='rotor_1_joint' type='revolute'>
<child>rotor_1</child>
<parent>motor_1</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-1e+16</lower>
<upper>1e+16</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>1</use_parent_model_frame>
</axis>
</joint>
<link name="left_elevon">
<inertial>
<mass>0.00000001</mass>
<inertia>
<ixx>0.000001</ixx>
<ixy>0.0</ixy>
<iyy>0.000001</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.000001</izz>
</inertia>
<pose>0 0.3 0 0.00 0 0.0</pose>
</inertial>
<visual name='left_elevon_visual'>
<pose>-0.105 0.004 -0.034 1.5707963268 0 3.1415926536</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://xiake1k/meshes/x8_elevon_left.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>__default__</uri>
</script>
</material>
</visual>
</link>
<link name="right_elevon">
<inertial>
<mass>0.00000001</mass>
<inertia>
<ixx>0.000001</ixx>
<ixy>0.0</ixy>
<iyy>0.000001</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.000001</izz>
</inertia>
<pose>0 -0.6 0 0.00 0 0.0</pose>
</inertial>
<visual name='right_elevon_visual'>
<pose>0.281 -1.032 -0.034 1.5707963268 0 3.1415926536</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>model://xiake1k/meshes/x8_elevon_right.dae</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Blue</name>
<uri>__default__</uri>
</script>
</material>
</visual>
</link>
<link name="rudder">
<inertial>
<mass>0.00000001</mass>
<inertia>
<ixx>0.000001</ixx>
<ixy>0.0</ixy>
<iyy>0.000001</iyy>
<ixz>0.0</ixz>
<iyz>0.0</iyz>
<izz>0.000001</izz>
</inertia>
<pose>-0.5 0 0.05 0 0 0 </pose>
</inertial>
</link>
<joint name='left_elevon_joint' type='revolute'>
<parent>base_link</parent>
<child>left_elevon</child>
<pose>-0.18 0.6 -0.005 0 0 0.265</pose>
<axis>
<xyz>0 -1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<joint name='right_elevon_joint' type='revolute'>
<parent>base_link</parent>
<child>right_elevon</child>
<pose>-0.18 -0.6 -0.005 0 0 -0.265</pose>
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<joint name='rudder_joint' type='revolute'>
<parent>base_link</parent>
<child>rudder</child>
<pose>-0.5 0 0.05 0.00 0 0.0</pose>
<axis>
<xyz>1 0 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.01</lower>
<upper>0.01</upper>
</limit>
<dynamics>
<damping>1.000</damping>
</dynamics>
</axis>
<physics>
<ode>
<implicit_spring_damper>1</implicit_spring_damper>
</ode>
</physics>
</joint>
<plugin name="left_wing" filename="libLiftDragPlugin.so">
<a0>0.05984281113</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
<cp>-0.05 0.3 0.05</cp>
<area>0.5</area>
<air_density>1.2041</air_density>
<forward>1 0 0</forward>
<upward>0 0 1</upward>
<link_name>base_link</link_name>
<control_joint_name>
left_elevon_joint
</control_joint_name>
<control_joint_rad_to_cl>-2.0</control_joint_rad_to_cl>
<robotNamespace></robotNamespace>
<windSubTopic>world_wind</windSubTopic>
</plugin>
<plugin name="right_wing" filename="libLiftDragPlugin.so">
<a0>0.05984281113</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
<cp>-0.05 -0.3 0.05</cp>
<area>0.5</area>
<air_density>1.2041</air_density>
<forward>1 0 0</forward>
<upward>0 0 1</upward>
<link_name>base_link</link_name>
<control_joint_name>
right_elevon_joint
</control_joint_name>
<control_joint_rad_to_cl>-2.0</control_joint_rad_to_cl>
<robotNamespace></robotNamespace>
<windSubTopic>world_wind</windSubTopic>
</plugin>
<plugin name="rudder" filename="libLiftDragPlugin.so">
<a0>0.0</a0>
<cla>4.752798721</cla>
<cda>0.6417112299</cda>
<cma>0.0</cma>
<alpha_stall>0.3391428111</alpha_stall>
<cla_stall>-3.85</cla_stall>
<cda_stall>-0.9233984055</cda_stall>
<cma_stall>0</cma_stall>
<cp>-0.5 0 0.05</cp>
<area>0.02</area>
<air_density>1.2041</air_density>
<forward>1 0 0</forward>
<upward>0 1 0</upward>
<link_name>base_link</link_name>
<robotNamespace></robotNamespace>
<windSubTopic>world_wind</windSubTopic>
</plugin>
<plugin name='back_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_0_joint</jointName>
<linkName>rotor_0</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>2300</maxRotVelocity>
<motorConstant>2e-05</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>0</motorNumber>
<rotorDragCoefficient>0.0000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/0</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_right_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_1_joint</jointName>
<linkName>rotor_1</linkName>
<turningDirection>ccw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1800</maxRotVelocity>
<motorConstant>2e-05</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>1</motorNumber>
<rotorDragCoefficient>0.0000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/1</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
</plugin>
<plugin name='front_left_motor_model' filename='libgazebo_motor_model.so'>
<robotNamespace></robotNamespace>
<jointName>rotor_2_joint</jointName>
<linkName>rotor_2</linkName>
<turningDirection>cw</turningDirection>
<timeConstantUp>0.0125</timeConstantUp>
<timeConstantDown>0.025</timeConstantDown>
<maxRotVelocity>1800</maxRotVelocity>
<motorConstant>2e-05</motorConstant>
<momentConstant>0.06</momentConstant>
<commandSubTopic>/gazebo/command/motor_speed</commandSubTopic>
<motorNumber>7</motorNumber>
<rotorDragCoefficient>0.0000806428</rotorDragCoefficient>
<rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
<motorSpeedPubTopic>/motor_speed/7</motorSpeedPubTopic>
<rotorVelocitySlowdownSim>20</rotorVelocitySlowdownSim>
</plugin>
<plugin name='gazebo_imu_plugin' filename='libgazebo_imu_plugin.so'>
<robotNamespace></robotNamespace>
<linkName>xiake1k/imu_link</linkName>
<imuTopic>/imu</imuTopic>
<gyroscopeNoiseDensity>0.0003394</gyroscopeNoiseDensity>
<gyroscopeRandomWalk>3.8785e-05</gyroscopeRandomWalk>
<gyroscopeBiasCorrelationTime>1000.0</gyroscopeBiasCorrelationTime>
<gyroscopeTurnOnBiasSigma>0.0087</gyroscopeTurnOnBiasSigma>
<accelerometerNoiseDensity>0.004</accelerometerNoiseDensity>
<accelerometerRandomWalk>0.006</accelerometerRandomWalk>
<accelerometerBiasCorrelationTime>300.0</accelerometerBiasCorrelationTime>
<accelerometerTurnOnBiasSigma>0.196</accelerometerTurnOnBiasSigma>
</plugin>
<plugin name='groundtruth_plugin' filename='libgazebo_groundtruth_plugin.so'>
<robotNamespace/>
</plugin>
<plugin name='magnetometer_plugin' filename='libgazebo_magnetometer_plugin.so'>
<robotNamespace/>
<pubRate>100</pubRate>
<noiseDensity>0.0004</noiseDensity>
<randomWalk>6.4e-06</randomWalk>
<biasCorrelationTime>600</biasCorrelationTime>
<magTopic>/mag</magTopic>
</plugin>
<plugin name='barometer_plugin' filename='libgazebo_barometer_plugin.so'>
<robotNamespace/>
<pubRate>50</pubRate>
<baroTopic>/baro</baroTopic>
</plugin>
<plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'>
<robotNamespace></robotNamespace>
<imuSubTopic>/imu</imuSubTopic>
<magSubTopic>/mag</magSubTopic>
<baroSubTopic>/baro</baroSubTopic>
<mavlink_addr>INADDR_ANY</mavlink_addr>
<mavlink_tcp_port>{{ mavlink_tcp_port }}</mavlink_tcp_port>
<mavlink_udp_port>{{ mavlink_udp_port }}</mavlink_udp_port>
<serialEnabled>false</serialEnabled>
<serialDevice>/dev/ttyACM0</serialDevice>
<baudRate>921600</baudRate>
<qgc_addr>INADDR_ANY</qgc_addr>
<qgc_udp_port>14550</qgc_udp_port>
<sdk_addr>INADDR_ANY</sdk_addr>
<sdk_udp_port>14540</sdk_udp_port>
<hil_mode>false</hil_mode>
<hil_state_level>false</hil_state_level>
<enable_lockstep>true</enable_lockstep>
<use_tcp>true</use_tcp>
<motorSpeedCommandPubTopic>/gazebo/command/motor_speed</motorSpeedCommandPubTopic>
<control_channels>
<channel name="rotor_0">
<input_index>0</input_index>
<input_offset>0</input_offset>
<input_scaling>2300</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_name>rotor_0_joint</joint_name>
</channel>
<channel name="rotor_1">
<input_index>1</input_index>
<input_offset>0</input_offset>
<input_scaling>1800</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_name>rotor_1_joint</joint_name>
</channel>
<channel name="rotor_2">
<input_index>7</input_index>
<input_offset>0</input_offset>
<input_scaling>1800</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>velocity</joint_control_type>
<joint_name>rotor_2_joint</joint_name>
</channel>
<channel name="motor_1_tilt">
<input_index>3</input_index>
<!-- 0.174533 / 10 deg -->
<!-- 0.261799 / 15 deg -->
<!-- 0.523598 / 30 deg -->
<!-- 0.785398 / 45 deg -->
<!-- 0.872222 / 50 deg -->
<!-- 1.046666 / 60 deg -->
<!-- 1.570795 / 90 deg -->
<!-- 1.832594 / 105 deg -->
<!-- input = (u + offset) * scale + pos_arm -->
<input_offset>-1</input_offset>
<input_scaling>1.570795</input_scaling>
<zero_position_armed>0</zero_position_armed>
<zero_position_disarmed>0</zero_position_disarmed>
<joint_control_type>position</joint_control_type>
<joint_name>motor_1_joint</joint_name>
<joint_control_pid>
<p>100</p>
<i>0</i>
<d>0</d>
<iMax>0.0</iMax>
<iMin>0.0</iMin>
<cmdMax>2</cmdMax>
<cmdMin>-2</cmdMin>
<errMax>0.2</errMax>
</joint_control_pid>
</channel>
<channel name="motor_2_tilt">
<input_index>6</input_index>
<!-- 0.785398 -->
<input_offset>1</input_offset>
<input_scaling>1.570795</input_scaling>
<zero_position_armed>0</zero_position_armed>
<zero_position_disarmed>0</zero_position_disarmed>
<joint_control_type>position</joint_control_type>
<joint_name>motor_2_joint</joint_name>
<joint_control_pid>
<p>100</p>
<i>0</i>
<d>0</d>
<iMax>0.0</iMax>
<iMin>0.0</iMin>
<cmdMax>2</cmdMax>
<cmdMin>-2</cmdMin>
<errMax>0.2</errMax>
</joint_control_pid>
</channel>
<channel name="right_elevon">
<input_index>2</input_index>
<input_offset>0</input_offset>
<input_scaling>1</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position_kinematic</joint_control_type>
<joint_name>right_elevon_joint</joint_name>
</channel>
<channel name="left_elevon">
<input_index>5</input_index>
<input_offset>0</input_offset>
<input_scaling>1</input_scaling>
<zero_position_disarmed>0</zero_position_disarmed>
<zero_position_armed>0</zero_position_armed>
<joint_control_type>position_kinematic</joint_control_type>
<joint_name>left_elevon_joint</joint_name>
</channel>
</control_channels>
</plugin>
<static>0</static>
</model>
</sdf>
Make a parameter configure file
멀티로터 비행 되는 영상이다.
XIAKE800을 만든 모델은 아니고, tiltrotor라고 있는 모델을 tri-copter로 바꿨다.
고정익 비행은 어떻게 되는거야..
나중에 해야지..
Reference
[1] https://docs.px4.io/main/en/sim_gazebo_gz/gazebo_vehicles.html#standard-vtol
[2] "Adding New Worlds and Models," https://docs.px4.io/main/en/sim_gazebo_gz/#adding-new-worlds-and-models
[3] "How to add a Configuration to Firmware," https://docs.px4.io/main/en/dev_airframes/adding_a_new_frame.html#how-to-add-a-configuration-to-firmware
** EOF **
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