Enable flaps for plane model in SITL #14788
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Since sitl gazebo is unable to control to joints from a single channel, an additional mixer is defined
Jaeyoung-Lim
changed the title
dagar
approved these changes
May 2, 2020
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Describe problem solved by this pull request
Previously, the plane model didn't have a flap although flaps were defined in the SITL mixers. This PR adds the ability to simulate flaps in the plane model. This makes the plane model more or less complete, since all actuator controls are actually consumed by the simulated model
Describe your solution
To enable this, the lift drag elements on the wings are split into two, where one simulates the aileron and one simulates the flaps. The center of pressure is placed separately along the wing near the center of the control surface.
Since it is not possible to control two joints through a single channel in
sitl_gazebo, a channel was added to the mixer file.The meshfile comes from https://github.com/osrf/gazebo_models
Test data / coverage
Log: https://review.px4.io/plot_app?log=f5655069-3579-447b-8e9d-e158d1e7e0f8
Additional context
Flaps added on PX4/PX4-SITL_gazebo-classic#476