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Add models for Skywalker X8 plane and quad-plane #1

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wants to merge 14 commits into from
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Add models for Skywalker X8 plane and quad-plane #1

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srmainwaring
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@srmainwaring srmainwaring commented Nov 18, 2021 •
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This PR adds models for the Skywalker X8 in plane and quad-plane configurations for use with ArduPilot.

The model is adapted from the standard_vtol model available from these repos:

Textures were adapted from:

skywalker_x8_quad_2

Usage

Ignition and the plugins should be installed as per the wiki instructions.

skywalker_x8

An X8 configured as a delta-wing plane.

Run Gazebo

$ ign gazebo -v4 -r skywalker_x8_arduplane_runway.world

Run ArduPilot SITL

$ sim_vehicle.py -v ArduPlane -f JSON --add-param-file=$HOME/ardupilot_gazebo/config/skywalker_x8.parm --console --map

skywalker_x8_quad

An X8 configured as a delta-wing quad plane.

Run Gazebo

$ ign gazebo -v4 -r skywalker_x8_quad_arduplane_runway.world

Run ArduPilot SITL

$ sim_vehicle.py -v ArduPlane -f JSON --add-param-file=$HOME/ardupilot_gazebo/config/skywalker_x8_quad.parm --console --map

Notes

  • The plane / quad-plane parameters have been auto-tuned for regular flight. The Q-modes are using default parameters.
  • The quad plane has been set up as an H-frame as the original configuration as an X-frame had such poor yaw authority the vehicle could not be controlled when transitioning from FBWA flight back to Q modes.
  • Additional yaw authority is provided by rotating the VTOL motors 3 degrees towards the centreline.

@srmainwaring
Forward port to support ignition garden: ignition-gazebo5 to ignition…
e407fad 
…-gazebo7

- Use new interface on EntityComponentManager::CreateComponent
- Remove unused package dependencies from CMakeLists.txt
- Update dependency to ignition-gazebo7
@srmainwaring
[X8] add initial version of model
9fd5268 
- Add standard vtol model from https://github.com/PX4/PX4-SITL_gazebo

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@srmainwaring
[X8] adapt model for ignition gazebo
6fc42cf 
Convert base link and rotors to ignition
- Update config file
- Change sdf version to 1.7
- Temporarily disable plugins and sensors

Add example world for standard_vtol model

Enable elevon and imu links
- Remove airspeed and GPS links and joints

Enable plugins
- Add lift-drag-system plugins for wings, elevons and rotors
- Add joint-force-system plugins for all controlled joints
- Add first draft of ardupilot plugin

Configure servo inputs and set initial params
- Configure elevon, throttle and motor control parameters for the ArduPilot plugin
- Add parameter file for the model

Remove unused elements from model

Add Skywalker X8 plane

Configure using Zephyr params and lift-drag plugin settings

Rename quad plane and adjust settings
- Rename VTOL craft
- Disable airspeed (no sensor)
- Disable most params from default quadplane.parm
- Adjust CP for elevons and winglets
- Increase mass on elevons to avoid numerical instabilities
- This version flying (with instability on landing)

Update mesh files with textured version
- Only use one set of mesh files (for skywalker_x8)
- Update autotuned params for quadplane
- Add X8 texture file from ArduPilot SITL_Models

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@srmainwaring
[X8] Update textures
8ff51fe 
- Fix texture on main wing
- Add textures to motors and props
- Rename the main texture
- Sync X8 plane and quad models

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@srmainwaring
[X8] Update lift-drag params
0bbce69 
- Update wing area
- Add visual for pusher motor body

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@srmainwaring
[X8] centre model on CoM
6c6ccf1 
- Update mesh to have origin at the CoM (approx 430mm from front)
- Update joints and links with new positions
- Adjust CP visuals and lift-drag CP positions
- Update ArduPilot params for non-quad variant
- Add WP for training mission

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@srmainwaring
[X8] comment out diagnostic visuals for lift-drag
3498a86 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@srmainwaring
[X8] add ArduPilot param file for skywalker_x8
3ac01d4 
- Add AutoTuned params

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@srmainwaring
[X8] remove old param sets
8750f10 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@srmainwaring
[X8] add ArduPilot param file for skywalker_x8_quad
39b6fb4 
- Base plane params on skywalker_x8
- Set Q_ENABLE

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@srmainwaring
[X8] revert ignition-garden CMakeLists.txt changes
b50872e 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@srmainwaring
[X8] revert ignition-garden changes
dfd0ced 
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@srmainwaring srmainwaring requested a review from khancyr November 18, 2021 11:38
@srmainwaring srmainwaring added the enhancement New feature or request label Nov 18, 2021
@srmainwaring
[X8] change to H-frame type
1a3eae2 
- Change from X-frame to H-frame to help resolve yaw-stability / authority issues
- Centre motor booms on CoM
- Lengthen booms to 980mm to match Discourse build logs
- Update runway model (reduce gap between runway and ground introduces to prevent z-order fighting in render)

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@srmainwaring
[X8] increase yaw authority
08f710c 
- Angle quad motors 3 deg towards to the centre-line to increase yaw authority

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/SITL_Models that referenced this pull request Dec 1, 2021
@srmainwaring
Ignition: add model for X8 plane and quad plane
1824740 
Supercedes ArduPilot/ardupilot_gazebo#1

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit to srmainwaring/SITL_Models that referenced this pull request Dec 1, 2021
@srmainwaring
Ignition: add model for X8 plane and quad plane
20b6a22 
Supercedes ArduPilot/ardupilot_gazebo#1

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@srmainwaring srmainwaring mentioned this pull request Dec 1, 2021
Merged
@srmainwaring
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Superseded by ArduPilot/SITL_Models#50

srmainwaring added a commit to srmainwaring/SITL_Models that referenced this pull request Dec 2, 2021
@srmainwaring
Ignition: add model for X8 plane and quad plane
89e4fea 
Supercedes ArduPilot/ardupilot_gazebo#1

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@srmainwaring srmainwaring deleted the feature/ignition-edifice_skywalker_x8 branch December 2, 2021 09:44
srmainwaring added a commit to srmainwaring/SITL_Models that referenced this pull request Jan 13, 2022
@srmainwaring
Ignition: add model for X8 plane and quad plane
30a442a 
Supercedes ArduPilot/ardupilot_gazebo#1

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
tridge pushed a commit to ArduPilot/SITL_Models that referenced this pull request Jan 13, 2022
@srmainwaring @tridge
Ignition: add model for X8 plane and quad plane
3c21835 
Supercedes ArduPilot/ardupilot_gazebo#1

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
srmainwaring added a commit that referenced this pull request Apr 14, 2022
@srmainwaring
[Zephyr] add zephyr plane model and demo world (#1)
a4be78d 
Add an ArduPilot enabled Zephyr delta wing adpated from the
model provided by OpenRobotics.

The model is configured to work with ignition-gazebo. Changes include:

- Rename the model to avoid conflict
- Update the location of the wing mesh texture in the collada file
- Disable the GPS sensor
- Use the ignition-gazebo version of the lift-drag plugin
- Provide a new runway / ground plane model for demonstration
  (contains assets from ambientCG.com, licensed under CC0 1.0 Universal:
  textures https://ambientcg.com/view?id=Grass004)
- Update the iris_arducopter_runway world to use the new model
- Clean up CMakeLists.txt to use ignition conventions
- Only require ignition-gazebo package as other dependencies
  are pulled in recursively.
- This version of the mode will fly with ArduPilot plane4.1
- Add imu link and set pose: <pose>0 0 0 3.141593 0 -1.5707963</pose>.
  This is to adjust for the Zephyr model having a non-standard orientation (x : -R, y : -F, z : -D)
- Add joint-force system plugins
- Add ArduPilot plugin and configure:
- Gazebo body frame to ArudPilot FRD has an extra rotation about z
  to correct for the non-standard wing orientation.
- Gazebo world to NED is the usual rotation
- The elevon mappings are different from the model in SwiftGust's repo.
  The elevon channels are swapped and no servo reverse is required.
- Upstream: gazebo-zephyr.parm needs to have
  SERVO1_REVERSED = 0
  SERVO2_REVERSED = 0
- Orient the model for vertical takeoff
- Update the default transform for rotating from the Gazebo world frame to NED.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
Tarek-H pushed a commit to Tarek-H/ardupilot_gazebo that referenced this pull request Apr 5, 2023
@srmainwaring
[Zephyr] add zephyr plane model and demo world (ArduPilot#1)
fd00f11 
Add an ArduPilot enabled Zephyr delta wing adpated from the
model provided by OpenRobotics.

The model is configured to work with ignition-gazebo. Changes include:

- Rename the model to avoid conflict
- Update the location of the wing mesh texture in the collada file
- Disable the GPS sensor
- Use the ignition-gazebo version of the lift-drag plugin
- Provide a new runway / ground plane model for demonstration
  (contains assets from ambientCG.com, licensed under CC0 1.0 Universal:
  textures https://ambientcg.com/view?id=Grass004)
- Update the iris_arducopter_runway world to use the new model
- Clean up CMakeLists.txt to use ignition conventions
- Only require ignition-gazebo package as other dependencies
  are pulled in recursively.
- This version of the mode will fly with ArduPilot plane4.1
- Add imu link and set pose: <pose>0 0 0 3.141593 0 -1.5707963</pose>.
  This is to adjust for the Zephyr model having a non-standard orientation (x : -R, y : -F, z : -D)
- Add joint-force system plugins
- Add ArduPilot plugin and configure:
- Gazebo body frame to ArudPilot FRD has an extra rotation about z
  to correct for the non-standard wing orientation.
- Gazebo world to NED is the usual rotation
- The elevon mappings are different from the model in SwiftGust's repo.
  The elevon channels are swapped and no servo reverse is required.
- Upstream: gazebo-zephyr.parm needs to have
  SERVO1_REVERSED = 0
  SERVO2_REVERSED = 0
- Orient the model for vertical takeoff
- Update the default transform for rotating from the Gazebo world frame to NED.

Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
@metaphaz metaphaz mentioned this pull request Dec 22, 2023
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