Gazebo: Add model for OmniCopter #55
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1. Add initial version of Peter Hall's OmniCopter - Initial version of Peter Hall's OmniCopter - Add base model config and sdf - Add mesh files for base, tail booms and spinners - First draft of joint locations and orientations - Add runway model to demo 2. Add props and system plugins - Add prop visuals - Add JointStatePublisher system plugin - Add ApplyJointForce system plugins - Add LiftDrag system plugins (2x for each prop) - Add ArduPilotGazebo system plugin - Add control elements for each prop (all linked to channel 2 for initial testing) - Max RPM is 13185 (1381 rad/s) - Set prop rotation reversible 3. Update inertials and PIDs - Use settings from Iris quadcopter as an initial guess 4. Add force torque sensors to props and add params and scripts - Set up servo params correctly for AP plugin - Add parameters and scripts from the main AP repo and Peter Hall's RF model - Add force torque sensors and system plugin - Increase prop thrust by moving CP outwards and increasing prop area - Increase area of base collision to provide 'training wheels' while attempting a tune 5. Change frame for force sensor, update prop lift and params - Set params allow drone to circle, no stable attitude control 6. Add parameters and mixer for zero prop torque test case 7. Contract body collision and place motors precisely - Contract body collision to 0.25 x 0.25 x 0.25 cube - Use calculated values for motor positions and directions rather than estimates from Blender 8. Correct motor inertials - Adjust motor inertials so they are centred on the joint positions (and are symmetrically arranged) 9. Add thumbnails 10. Rename config and param files - Add suffix including the prop torque parameter value 11. Move thumbnails 12. Add model for Omnicopter - Update names of parameter files. - Add user document. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
- Migrate ignition to gz. Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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This draft PR adds a Gazebo model for @IamPete1's OmniCopter
Usage
Gazebo and the plugins should be installed as per the ardupilot_gazebo wiki instructions.
Run Gazebo
Run ArduPilot SITL
Copy the script
Motors_6DoF.luato the SITL scripts directory, then start SITL,sim_vehicle.py -v ArduCopter -f JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/omnicopter.param --console --mapIssues
The copter is not tuned and the attitude is not controlled. In 6DoF mode you can takeoff and
CIRCLEbut the copter constantly tumbles.