Gazebo: Add model for Swan-K1-HWing

- Update Swan-K1 params, modify forward flight to VT transition params.
- Update Swan-K1 document.
- Update Swan-K1 model visuals.
- Update Swan-K1 documentation.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>

Gazebo/config/swan_k1_hwing.param

@@ -214,7 +214,7 @@ FFT_SAMPLE_MODE  0
 FFT_SNR_REF      25.000000
 FFT_THR_REF      0.076178
 FFT_WINDOW_OLAP  0.500000
-FFT_WINDOW_SIZE  32.000000
+FFT_WINDOW_SIZE  32
 FLAP_1_PERCNT    0
 FLAP_1_SPEED     0
 FLAP_2_PERCNT    0
@@ -411,8 +411,8 @@ LGR_RETRACT_ALT  0
 LGR_STARTUP      0
 LGR_WOW_PIN      8
 LGR_WOW_POL      1
-LIM_PITCH_MAX    4500
-LIM_PITCH_MIN    -1500
+LIM_PITCH_MAX    4500.000000
+LIM_PITCH_MIN    -1500.000000
 LIM_ROLL_CD      4500
 LOG_BACKEND_TYPE 1
 LOG_BITMASK      1114111
@@ -505,32 +505,32 @@ Q_A_RATE_FF_ENAB 1
 Q_A_RATE_P_MAX   100.000000
 Q_A_RATE_R_MAX   100.000000
 Q_A_RATE_Y_MAX   100.000000
-Q_A_RAT_PIT_D    0.000359
+Q_A_RAT_PIT_D    0.000961
 Q_A_RAT_PIT_FF   0.000000
 Q_A_RAT_PIT_FLTD 15.000000
 Q_A_RAT_PIT_FLTE 0.000000
 Q_A_RAT_PIT_FLTT 15.000000
-Q_A_RAT_PIT_I    0.017593
+Q_A_RAT_PIT_I    0.050254
 Q_A_RAT_PIT_IMAX 0.500000
-Q_A_RAT_PIT_P    0.017593
+Q_A_RAT_PIT_P    0.050254
 Q_A_RAT_PIT_SMAX 15.000000
-Q_A_RAT_RLL_D    0.000340
+Q_A_RAT_RLL_D    0.000951
 Q_A_RAT_RLL_FF   0.000000
 Q_A_RAT_RLL_FLTD 15.000000
 Q_A_RAT_RLL_FLTE 0.000000
 Q_A_RAT_RLL_FLTT 15.000000
-Q_A_RAT_RLL_I    0.016494
+Q_A_RAT_RLL_I    0.049714
 Q_A_RAT_RLL_IMAX 0.500000
-Q_A_RAT_RLL_P    0.016494
+Q_A_RAT_RLL_P    0.049714
 Q_A_RAT_RLL_SMAX 15.000000
-Q_A_RAT_YAW_D    0.001086
+Q_A_RAT_YAW_D    0.003167
 Q_A_RAT_YAW_FF   0.000000
 Q_A_RAT_YAW_FLTD 15.000000
 Q_A_RAT_YAW_FLTE 2.000000
 Q_A_RAT_YAW_FLTT 15.000000
-Q_A_RAT_YAW_I    0.005866
+Q_A_RAT_YAW_I    0.015736
 Q_A_RAT_YAW_IMAX 0.500000
-Q_A_RAT_YAW_P    0.058657
+Q_A_RAT_YAW_P    0.157356
 Q_A_RAT_YAW_SMAX 100.000000
 Q_A_SLEW_YAW     20000.000000
 Q_A_THR_MIX_MAN  2.000000
@@ -577,7 +577,7 @@ Q_M_THST_EXPO    0.650000
 Q_M_THST_HOVER   0.125000
 Q_M_YAW_HEADROOM 200
 Q_NAVALT_MIN     0.000000
-Q_OPTIONS        130.000000
+Q_OPTIONS        262274
 Q_PLT_Y_EXPO     0.250000
 Q_PLT_Y_RATE     100.000000
 Q_PLT_Y_RATE_TC  0.250000
@@ -613,7 +613,7 @@ Q_RC_SPEED       490
 Q_RTL_ALT        15
 Q_RTL_MODE       3
 Q_TAILSIT_ANGLE  80
-Q_TAILSIT_ANG_VT 0
+Q_TAILSIT_ANG_VT 10.000000
 Q_TAILSIT_DSKLD  0.000000
 Q_TAILSIT_ENABLE 2
 Q_TAILSIT_GSCMAX 2.000000
@@ -625,7 +625,7 @@ Q_TAILSIT_MOTMX  0
 Q_TAILSIT_RAT_FW 30.000000
 Q_TAILSIT_RAT_VT 22.000000
 Q_TAILSIT_RLL_MX 0.000000
-Q_TAILSIT_THR_VT 15.000000
+Q_TAILSIT_THR_VT 50.000000
 Q_TAILSIT_VFGAIN 0.000000
 Q_TAILSIT_VHGAIN 0.500000
 Q_TAILSIT_VHPOW  2.500000
@@ -1357,10 +1357,10 @@ SR6_RAW_SENS     1
 SR6_RC_CHAN      1
 STAB_PITCH_DOWN  2.000000
 STALL_PREVENTION 1
-STAT_BOOTCNT     117
-STAT_FLTTIME     25211
+STAT_BOOTCNT     127
+STAT_FLTTIME     31211.000000
 STAT_RESET       178562096
-STAT_RUNTIME     61271.000000
+STAT_RUNTIME     71105.000000
 STEER2SRV_D      0.005000
 STEER2SRV_DRTFCT 10.000000
 STEER2SRV_DRTMIN 4500.000000
@@ -1375,7 +1375,7 @@ STICK_MIXING     1
 SYSID_ENFORCE    0
 SYSID_MYGCS      255
 SYSID_THISMAV    1
-SYS_NUM_RESETS   119
+SYS_NUM_RESETS   129
 TECS_APPR_SMAX   0.000000
 TECS_CLMB_MAX    5.000000
 TECS_FLARE_HGT   1.000000

Gazebo/docs/Swan-K1.md

@@ -0,0 +1,32 @@
+# Swan-K1 Copter Tailsitter Quadplane
+
+Model for the Swan-K1 copter tailsitter quadplane for use with ArduPilot.
+It is derived from the [version prepared for RealFlight](https://github.com/ArduPilot/SITL_Models/tree/master/RealFlight/Released_Models/QuadPlanes/Tailsitters/Swan_K-1_HWing).
+
+
+![swan-k1-hwing-flying](https://user-images.githubusercontent.com/24916364/210408630-01e5f56d-57ba-430e-b04d-62cb8d232527.png)
+
+
+## Usage
+
+Gazebo and the plugins should be installed as per the [ArduPilot Gazebo Plugin](https://github.com/ArduPilot/ardupilot_gazebo) instructions.
+
+Update the `GZ_SIM_RESOURCE_PATH` to include these models:
+
+```bash
+export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:\
+$HOME/SITL_Models/Gazebo/models:\
+$HOME/SITL_Models/Gazebo/worlds
+```
+
+#### Run Gazebo
+
+```bash
+$ gz sim -v4 -r swan_k1_hwing_runway.sdf
+```
+
+#### Run ArduPilot SITL
+
+```bash
+$ sim_vehicle.py -v ArduPlane -f JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/swan_k1_hwing.param --console --map
+```