Pr gz sim tiltrotor

[Perrrewi]

Solved Problem

Moving the tiltrotor from gazebo classic to gz sim as gazebo garden will be depreciated by the end of nov

Fixes #23602

Solution

Adding an airframe and fixed the bug in gz-bridge. PX4 sends an output value from 0 to 1000 of the servo and the GZbridge normalized it to be within +-1. The problem was that gazebo needs a servo input of angles in radian which meant the currently servos only works in the range +-1 rad.

Test coverage

Tested with QGC

Context

Test: Toggling the actuator testing slider with max output value 1000 while gazebo angle limitations were set to 90 deg

Before updating GZMixingInterfaceServo.cpp:

After updating GZMixingInterfaceServo.cpp:

[github-actions]

FLASH Analysis

px4_fmu-v5x

    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.0%    +176  +0.0%    +176    .text
  +0.1%    +172  +0.1%    +172    ROMFS/nsh_romfsimg.c
  +0.0%      +4  +0.0%      +4    [section .text]
-0.8%    -176  [ = ]       0    [Unmapped]
[ = ]       0  +0.0%    +176    TOTAL

px4_fmu-v6x

    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.0%    +144  +0.0%    +144    .text
  +0.1%    +136  +0.1%    +136    ROMFS/nsh_romfsimg.c
  +0.0%      +8  +0.0%      +8    [section .text]
-0.2%    -144  [ = ]       0    [Unmapped]
[ = ]       0  +0.0%    +144    TOTAL

Updated: 2024-11-29T09:15:17