Port of Advanced Plane from Gazebo Classic to Gazebo #22167
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ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
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In theory we don't need the meshes, but the "regular" plane currently does not exist in new gazebo, so I think it is actually needed. I could maybe specify a file path to the gz-classic repo but I think this is cleaner. If I port the regular plane as well, then I can change the mesh path and set them to the same one for both. |
Here is where the "normal" plane is: https://github.com/PX4/PX4-Autopilot/tree/main/Tools/simulation/gz/models/rc_cessna |
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I think we anyway need to wait for the gz PR to be merged since the plugin is on the gz side.
We can try to hold the plugin px4 side in the meantime and then deprecate it later if you want to get this in quicker
- Also, please cleanup the commit history since there are large mesh files along the commits
ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane
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ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane
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ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane
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… of the advanced plane
Signed-off-by: frederik <[email protected]>
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@Jaeyoung-Lim gazebosim/gz-sim#2185 has been merged into gazebo. Advanced Plane can now be used in PX4. |
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@frede791 Is it also released? Or when would it be part of the release? |
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@Jaeyoung-Lim They are currently porting 7 -> 8 and I would think it would be released as part of that. gazebosim/gz-sim#2224 |
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@frede791 Could you mention this in the documentation? Otherwise, LGTM! |
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@Jaeyoung-Lim PX4/PX4-user_guide#2843 |
I meant more the fact that it is not available yet in the released gz distribution. |
* started tiltrotor port * added advanced plane and changed some parameters on the tiltrotor * added advanced plane * removed tiltrotor for clean push * removed standard vtol old model file * removing the standard vtol changes from this PR, since it is not part of the advanced plane * removed advanced plane meshes as they are already found in the rc_cessna * updating and improving airframe parameters * updated mesh paths Signed-off-by: frederik <[email protected]> --------- Signed-off-by: frederik <[email protected]> Co-authored-by: frederik <[email protected]>
* started tiltrotor port * added advanced plane and changed some parameters on the tiltrotor * added advanced plane * removed tiltrotor for clean push * removed standard vtol old model file * removing the standard vtol changes from this PR, since it is not part of the advanced plane * removed advanced plane meshes as they are already found in the rc_cessna * updating and improving airframe parameters * updated mesh paths Signed-off-by: frederik <[email protected]> --------- Signed-off-by: frederik <[email protected]> Co-authored-by: frederik <[email protected]>
Port
The advanced plane existed in old Gazebo classic and relies on the advanced liftdrag plugin. This port enables the user to fly the advanced plane in new Gazebo as well. The physics of the plane have not been modified and all required parameters have been taken from the original file. I have also submitted a PR for the advanced liftdrag plugin upstream in gz-sim (gazebosim/gz-sim#2185). Without this plugin, the plane will not fly. To test this before integration, one can get plugin files from the other PR, place them in the necessary directories (as shown in the PR), compile them and place the generated .so files in
.gz/sim/plugins. This will allow you to fly the advanced plane in Gazebo through QGC or AMC.Test coverage
Flew a test course with tight turns, ascends and loitering patterns. I saw no unusual behaviour.