Pr gz sim tiltrotor

ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower

@@ -62,17 +62,17 @@ param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
 
 # Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
 param set-default SIM_GZ_SV_FUNC3 203
-param set-default SIM_GZ_SV_MIN3 0
-param set-default SIM_GZ_SV_MAX3 1000
-param set-default SIM_GZ_SV_DIS3 500
+param set-default SIM_GZ_SV_MIN3 900
+param set-default SIM_GZ_SV_MAX3 2700
+param set-default SIM_GZ_SV_DIS3 1800
 param set-default SIM_GZ_SV_FAIL3 500
 
 # Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204):
 #    - on minimum when disarmed or failed:
 param set-default SIM_GZ_SV_FUNC4 204
-param set-default SIM_GZ_SV_MIN4 0
-param set-default SIM_GZ_SV_MAX4 1000
-param set-default SIM_GZ_SV_DIS4 500
+param set-default SIM_GZ_SV_MIN4 900
+param set-default SIM_GZ_SV_MAX4 2700
+param set-default SIM_GZ_SV_DIS4 1800
 param set-default SIM_GZ_SV_FAIL4 500
 
 # Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]:

ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann

@@ -49,3 +49,5 @@ param set-default SIM_GZ_WH_DIS1 100
 # Steering
 param set-default SIM_GZ_SV_FUNC1 201
 param set-default SIM_GZ_SV_REV 1
+param set-default SIM_GZ_SV_MIN1 1500
+param set-default SIM_GZ_SV_MAX1 2100

ROMFS/px4fmu_common/init.d-posix/airframes/4030_gz_tiltrotor

@@ -0,0 +1,112 @@
+#!/bin/sh
+#
+# @name VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}
+
+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 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_TL0_MAXA 90
+param set-default CA_SV_TL0_MINA 0
+param set-default CA_SV_TL0_TD 0
+param set-default CA_SV_TL0_CT 1
+param set-default CA_SV_TL1_MAXA 90
+param set-default CA_SV_TL1_MINA 0
+param set-default CA_SV_TL1_TD 0
+param set-default CA_SV_TL1_CT 1
+
+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
+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 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 SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_FUNC2 202
+param set-default SIM_GZ_SV_FUNC3 203
+param set-default SIM_GZ_SV_FUNC4 204
+param set-default SIM_GZ_SV_FUNC5 205
+
+param set-default SIM_GZ_SV_MAX4 2700
+param set-default SIM_GZ_SV_MIN4 1800
+param set-default SIM_GZ_SV_MAX5 2700
+param set-default SIM_GZ_SV_MIN5 1800
+
+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 0.4
+param set-default MC_YAWRATE_I 0.1
+
+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

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -90,6 +90,7 @@ px4_add_romfs_files(
 	4016_gz_x500_lidar_down
 	4017_gz_x500_lidar_front
 	4018_gz_quadtailsitter
+	4030_gz_tiltrotor
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

Tools/module_config/generate_params.py

@@ -284,9 +284,13 @@ def add_local_param(param_name, param_def):
 '''
         minimum_description = \
 '''Minimum output value (when not disarmed).
+Servo output represents angles [-180,180] with an offset of 180 deg, and a scaling of 10.
+Ex. ailerons of -45 deg would be 1350. (Must be coherent with joint limits in the airframe/model.sdf)
 '''
         maximum_description = \
 '''Maxmimum output value (when not disarmed).
+Servo output represents angles [-180,180] deg with an offset of 180 deg, and a scaling of 10.
+Ex. ailerons of 45 deg would be 2250. (Must be coherent with joint limits in the airframe/model.sdf)
 '''
         failsafe_description = \
 '''This is the output value that is set when in failsafe mode.

src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp

@@ -64,8 +64,8 @@ bool GZMixingInterfaceServo::updateOutputs(bool stop_motors, uint16_t outputs[MA
 	for (auto &servo_pub : _servos_pub) {
 		if (_mixing_output.isFunctionSet(i)) {
 			gz::msgs::Double servo_output;
-			///TODO: Normalize output data
-			double output = (outputs[i] - 500) / 500.0;
+			double output = math::radians((double)outputs[i] / 10. - 180.);;
+
 			// std::cout << "outputs[" << i << "]: " << outputs[i] << std::endl;
 			// std::cout << "  output: " << output << std::endl;
 			servo_output.set_data(output);

src/modules/simulation/gz_bridge/module.yaml

@@ -20,10 +20,10 @@ actuator_output:
       group_label: 'Servos'
       channel_label: 'Servo'
       standard_params:
-        disarmed: { min: 0, max: 1000, default: 500 }
-        min: { min: 0, max: 1000, default: 0 }
-        max: { min: 0, max: 1000, default: 1000 }
-        failsafe: { min: 0, max: 1000 }
+        disarmed: { min: 0, max: 3600, default: 1800 }
+        min: { min: 0, max: 3600, default: 1350 }
+        max: { min: 0, max: 3600, default: 2250 }
+        failsafe: { min: 0, max: 3600 }
       num_channels: 8
     - param_prefix: SIM_GZ_WH
       group_label: 'Wheels'