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Adding tiltrotor airframe for gazebo simulation #24028

Merged
merged 4 commits into from
Dec 19, 2024
Merged

Adding tiltrotor airframe for gazebo simulation #24028

merged 4 commits into from
Dec 19, 2024

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Perrrewi
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@Perrrewi Perrrewi commented Nov 22, 2024 •
edited by Claudio-Chies
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Solved Problem

Moving the tiltrotor from gazebo classic to gz sim as gazebo garden will be depreciated by the end of nov 24

Solution

Adding an airframe and fixed the bug in gz-bridge. PX4 sends an output value from 0 to 1000 of the servo and the GZbridge normalized it to be within +-1. The problem was that gazebo needs a servo input of angles in radian which meant the currently servos only works in the range +-1 rad.

Test coverage

Tested with QGC

Context

Test: Toggling the actuator testing slider with max output value 1000 while gazebo angle limitations were set to 90 deg

Before updating GZMixingInterfaceServo.cpp:
Screenshot from 2024-11-27 16-42-11
Screenshot from 2024-11-27 17-09-25

After updating GZMixingInterfaceServo.cpp:
Screenshot from 2024-11-27 16-41-02

Screenshot from 2024-11-27 17-07-45

@Perrrewi Perrrewi self-assigned this Nov 22, 2024
@Perrrewi Perrrewi mentioned this pull request Nov 22, 2024
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github-actions bot commented Nov 22, 2024 •
edited
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🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 0 byte (0 %)] 
    FILE SIZE        VM SIZE    
--------------  -------------- 
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px4_fmu-v6x [Total VM Diff: 16 byte (0 %)] 
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--------------  -------------- 
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  +0.0%     +13  +0.0%     +13    [section .text]
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Updated: 2024-12-19T08:45:27

@Perrrewi Perrrewi force-pushed the pr-add-quadtailsitter branch from 8d2185c to 827ed69 Compare November 26, 2024 08:32
@Perrrewi Perrrewi force-pushed the pr-gz-sim-tiltrotor branch from c8bd4a4 to d223a8a Compare November 26, 2024 11:04
@Perrrewi Perrrewi changed the title Pr gz sim tiltrotor Draft: Pr gz sim tiltrotor Nov 26, 2024
@Perrrewi Perrrewi force-pushed the pr-gz-sim-tiltrotor branch from d223a8a to 08494be Compare November 26, 2024 16:13
@Perrrewi Perrrewi changed the title Draft: Pr gz sim tiltrotor Pr gz sim tiltrotor Nov 27, 2024
@Perrrewi Perrrewi force-pushed the pr-gz-sim-tiltrotor branch from bf264cf to 66ab707 Compare November 28, 2024 17:53
@Perrrewi Perrrewi force-pushed the pr-add-quadtailsitter branch from 827ed69 to 81fc89a Compare November 29, 2024 08:04
@Perrrewi Perrrewi force-pushed the pr-gz-sim-tiltrotor branch 2 times, most recently from b561a74 to 4ec9990 Compare November 29, 2024 09:10
@Perrrewi Perrrewi force-pushed the pr-add-quadtailsitter branch from 81fc89a to f08beb8 Compare December 2, 2024 09:53
@Perrrewi Perrrewi force-pushed the pr-gz-sim-tiltrotor branch from 4ec9990 to d47d5f8 Compare December 2, 2024 10:10
Base automatically changed from pr-add-quadtailsitter to main December 2, 2024 16:27
@Perrrewi Perrrewi force-pushed the pr-gz-sim-tiltrotor branch from d47d5f8 to ab93cd7 Compare December 2, 2024 16:54
@Perrrewi Perrrewi force-pushed the pr-gz-sim-tiltrotor branch 3 times, most recently from 0c60b0b to 642f09f Compare December 4, 2024 15:18
@Perrrewi Perrrewi mentioned this pull request Dec 5, 2024
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@Perrrewi Perrrewi force-pushed the pr-gz-sim-tiltrotor branch 2 times, most recently from 33d2023 to 94da813 Compare December 11, 2024 17:15
@Claudio-Chies Claudio-Chies self-requested a review December 12, 2024 07:09
@Perrrewi Perrrewi changed the title Pr gz sim tiltrotor gz simulation adding tiltrotor airframe Dec 12, 2024
Claudio-Chies
Claudio-Chies reviewed Dec 16, 2024
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Looks good, I assume this is what jaey meant with the parameter based implementation,
left just a few minor improvements, to avoid issues with other airframe implementations if accessing out of range indices.

src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp Outdated Show resolved Hide resolved
src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp Outdated Show resolved Hide resolved
ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt Outdated Show resolved Hide resolved
@Perrrewi Perrrewi force-pushed the pr-gz-sim-tiltrotor branch 2 times, most recently from 639b005 to 6b83045 Compare December 16, 2024 13:01
@Perrrewi Perrrewi force-pushed the pr-gz-sim-tiltrotor branch from 6b83045 to 3b7122e Compare December 17, 2024 14:00
@Perrrewi Perrrewi changed the title gz simulation adding tiltrotor airframe adding tiltrotor airframe for gazebo simulation Dec 17, 2024
@Perrrewi Perrrewi force-pushed the pr-gz-sim-tiltrotor branch from 3b7122e to a58ad4f Compare December 17, 2024 18:23
@Perrrewi Perrrewi changed the title adding tiltrotor airframe for gazebo simulation Adding tiltrotor airframe for gazebo simulation Dec 18, 2024
@Perrrewi Perrrewi force-pushed the pr-gz-sim-tiltrotor branch 2 times, most recently from 935ac4b to 1d1bdad Compare December 18, 2024 15:34
sfuhrer
sfuhrer previously approved these changes Dec 18, 2024
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Looks all reasonable to me, as clean as we can make it without the ability to send floats, so LGTM!

src/modules/simulation/gz_bridge/GZMixingInterfaceServo.cpp Show resolved Hide resolved
Jaeyoung-Lim
Jaeyoung-Lim previously approved these changes Dec 18, 2024
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@Perrrewi Could you resolve the conflict such that we can merge it?

@sfuhrer sfuhrer dismissed stale reviews from Jaeyoung-Lim and themself via 2466f49 December 19, 2024 08:40
@sfuhrer sfuhrer force-pushed the pr-gz-sim-tiltrotor branch from 1d1bdad to 2466f49 Compare December 19, 2024 08:40
@sfuhrer sfuhrer merged commit 367a8a7 into main Dec 19, 2024
57 of 60 checks passed
@sfuhrer sfuhrer deleted the pr-gz-sim-tiltrotor branch December 19, 2024 08:57
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@Perrrewi @Jaeyoung-Lim @MaEtUgR @sfuhrer @Claudio-Chies