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Pr vtol hitl #9276
Pr vtol hitl #9276
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RomanBapst
commented
Apr 10, 2018
•
edited by AuterionWrikeBot
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edited by AuterionWrikeBot
- adds a HITL model for standard vtol
CI failure? |
@RomanBapst was this tested with jMAVSim only or did you have a shot with Gazebo too? |
Something with the mixers, I'll check |
@TSC21 JMAVSim does not support VTOL so you can only use gazebo |
Ok that's enough to me :) thanks |
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@RomanBapst When this goes in, can we please have an update to the HITL docs here? Specifically, update the list of HITL compatible airframes and confirm that the instructions are correct for this case. |
@hamishwillee Sure! |
@RomanBapst can you review why CI is failing? I can't trigger the builds (no write permissions). |
@dagar Could you also check what's wrong here with CI please? |
Can we reboot CI here @dagar? |
@RomanBapst this doesn't fit in fmu-v2. |
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Tested, works
@@ -0,0 +1,80 @@ | |||
#!nsh | |||
# | |||
# @name Standard vtol HITL |
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You might want to add a comment that it works with the gazebo standard_vtol model.
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param set BAT_N_CELLS 3 | ||
param set CAL_ACC0_ID 1376264 | ||
param set CAL_ACC0_XOFF 0.01 | ||
param set CAL_ACC0_XSCALE 1.01 |
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Why are you setting the calibration parameters?
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@dagar This is probably coming from the SITL startup file. I'll go over the params and kick out the unnecessary ones.
Change the autostart numbering to either VTOL (13XXX) or the other HIL options (1XXX)? |
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@dagar I addressed your comments. Good to go from my side. |
@@ -0,0 +1,64 @@ | |||
#!nsh | |||
# | |||
# @name Standard vtol HITL (gazebo standard_vtol model) |
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Shouldn't this be "Standard VTOL HITL" (ie capitalised VTOL).
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Might be better as:
@name Standard VTOL HITL (Gazebo only)
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Actually, the existing HIL frames have names like HIL ...., so perhaps this should be named
"HIL Standard VTOL QuadPlane"
Mixer for standard vtol plane (SITL) with motor x configuration | ||
========================================================= | ||
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This file defines a single mixer for a standard vtol plane (SITL gazebo) with motors in X configuration. The plane has two ailerons and one elevator. |
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Everywhere:
- VTOL not vtol
- This config is referred to as a quadplane in our docs.
- do you mean SITL or HITL?
- Gazebo not gazebo
So possibly you mean:
Mixer for Standard VTOL (QuadPlane) with motor x configuration (Gazebo HITL)
=========================================================
This file defines a single mixer for a Standard VTOL QuadPlane (HITL Gazebo) with motors in X configuration. The plane has two ailerons and one elevator.
Has this stalled? |
It hit flash limits on fmu-v2 previously. It might currently be okay after a rebase. |
Rebased on master. Good to go if CI passes. |
Signed-off-by: Roman <[email protected]>
Signed-off-by: Roman <[email protected]>
- use mixer for the simulation to the sitl mixer dir - do not use virtual elevator in the mixer for the real vehicle Signed-off-by: Roman <[email protected]>
…vtol model Signed-off-by: Roman <[email protected]>
Signed-off-by: Roman <[email protected]>
Signed-off-by: Roman <[email protected]>
Signed-off-by: Roman <[email protected]>
@hamishwillee Thanks, I addressed you last comments. Can be merged after checks pass. |
Thanks @RomanBapst - Yes, thanks for fixes. I did minor update to docs and merged: PX4/PX4-Devguide#519 |