Add gz model for quadtailsitter (#23943)

* Add gazebo airspeed plugin and add a tailsitter model --------- Co-authored-by: Claudio Chies <[email protected]>
PX4 · Dec 2, 2024 · 4696338 · 4696338
1 parent 1a165a4
commit 4696338
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Showing 5 changed files with 108 additions and 12 deletions.
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4018_gz_quadtailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/4018_gz_quadtailsitter
@@ -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
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -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

diff --git a/Tools/simulation/gz b/Tools/simulation/gz
diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp
@@ -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";
@@ -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;
@@ -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)
 {

diff --git a/src/modules/simulation/gz_bridge/GZBridge.hpp b/src/modules/simulation/gz_bridge/GZBridge.hpp
@@ -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>
@@ -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);
@@ -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)};