Gazebo: add MiniHawk-VTOL #102
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MiniHawk-VTOL: initial model file and example world Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> MiniHawk-VTOL: add mesh files, joint plugins and adjust joints and CoMs Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> MiniHawk-VTOL: update world plugins and model orientation Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> MiniHawk-VTOL: fix elevon collisions and tilt mount joint limits and configure ardupilot Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> MiniHawk-VTOL: initial parameters (pre-tune) Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> MiniHawk-VTOL: reorient prop meshes and configure prop lift-drag Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> MiniHawk-VTOL: centre tilt mount meshes on CoG and add bi-blade params for lift-drag Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> MiniHawk-VTOL: switch to tri-blade props after moving cp to blade tips Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> MiniHawk-VTOL: update params after running Quick VTOL tune script Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> MiniHawk-VTOL: add initial estimates for lift-drag params on lifting surfaces Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> MiniHawk-VTOL: increase prop thrust, autotune qvtol and fbwa Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> MiniHawk-VTOL: remove debug visuals Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> MiniHawk-VTOL: adjust params Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com> MiniHawk-VTOL: rename param file Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
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Gazebo model for Stephen Carlson's MiniHawk-VTOL
Usage
Gazebo and the plugins should be installed as per the ArduPilot Gazebo Plugin instructions.
Update the
GZ_SIM_RESOURCE_PATHto include these models:Run Gazebo
Run ArduPilot SITL
sim_vehicle.py -v ArduPlane -f JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/minihawk_vtol.param --console --mapTasks