Fix tiltrotor scaling for sitl gazebo #14751
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Jaeyoung-Lim
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Could you rebase and update the SITL Gazebo repo to its current master? This should fix the build breakage. |
This adds fixes to use the normalized actuator setpoints for simulating tiltrotor in sitl
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@LorenzMeier Done! Now |
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Dropped submodule update from this PR since it is already merged in #14763 |
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@sfuhrer @RomanBapst Can we get this in? |
sfuhrer
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Jun 15, 2020
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Describe problem solved by this pull request
Previously, the tilt actuator inputs were being set as a 1 to 1 to the joint poisiton.
This is a problem since the tilt angle ranges [-3.14, 3.14] compared to actuator setpoints [-1, 1]
As a workaround, the firmware was scaling inputs on the firmware side by setting the parameter
VT_TILT_FWas done in https://github.com/PX4/Firmware/blob/master/ROMFS/px4fmu_common/init.d-posix/1042_tiltrotor#L39Describe your solution
This PR sets the input scale on the model side by changing the input scale.
Additional context
Depends on PX4/PX4-SITL_gazebo-classic#468