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Added Zero Turn Lawnmower model (#22717)
* Added Lawnmower airframe * Update 5005_gz_lawnmower Works all right * Update 5005_gz_lawnmower RDD_WHL_SPEED has new name: RDD_WHEEL_SPEED * Update ROMFS/px4fmu_common/init.d-posix/airframes/5005_gz_lawnmower Co-authored-by: Per Frivik <[email protected]> * Update ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt Co-authored-by: Per Frivik <[email protected]> * Renamed 5005_gz_lawnmower to 4011_gz_lawnmower also pulled latest GZ models hash --------- Co-authored-by: Per Frivik <[email protected]>
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ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
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#!/bin/sh | ||
# @name Gazebo lawnmower | ||
# @type Rover | ||
# @class Rover | ||
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. ${R}etc/init.d/rc.rover_differential_defaults | ||
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PX4_SIMULATOR=${PX4_SIMULATOR:=gz} | ||
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} | ||
PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower} | ||
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param set-default SIM_GZ_EN 1 # Gazebo bridge | ||
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# Simulated sensors | ||
param set-default SENS_EN_GPSSIM 1 | ||
param set-default SENS_EN_BAROSIM 0 | ||
param set-default SENS_EN_MAGSIM 1 | ||
param set-default SENS_EN_ARSPDSIM 1 | ||
# We can arm and drive in manual mode when it slides and GPS check fails: | ||
param set-default COM_ARM_WO_GPS 1 | ||
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# Set Differential Drive Kinematics Library parameters: | ||
param set RDD_WHEEL_BASE 0.9 | ||
param set RDD_WHEEL_RADIUS 0.22 | ||
param set RDD_WHEEL_SPEED 10.0 # Maximum wheel speed rad/s, approx 8 km/h | ||
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# Actuator mapping - set SITL motors/servos output parameters: | ||
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# "Motors" - motor channels 0 (Right) and 1 (Left) - via Wheels GZ bridge: | ||
param set-default SIM_GZ_WH_FUNC1 101 # right wheel | ||
#param set-default SIM_GZ_WH_MIN1 0 | ||
#param set-default SIM_GZ_WH_MAX1 200 | ||
#param set-default SIM_GZ_WH_DIS1 100 | ||
#param set-default SIM_GZ_WH_FAIL1 100 | ||
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param set-default SIM_GZ_WH_FUNC2 102 # left wheel | ||
#param set-default SIM_GZ_WH_MIN2 0 | ||
#param set-default SIM_GZ_WH_MAX2 200 | ||
#aram set-default SIM_GZ_WH_DIS2 100 | ||
#param set-default SIM_GZ_WH_FAIL2 100 | ||
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param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels | ||
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# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation. | ||
# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate | ||
# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator | ||
# controls in practical scenarios. | ||
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# Cutter deck blades clutch, PCA9685 servo channel 3, "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203): | ||
param set-default SIM_GZ_SV_FUNC3 203 | ||
param set-default SIM_GZ_SV_MIN3 0 | ||
param set-default SIM_GZ_SV_MAX3 1000 | ||
param set-default SIM_GZ_SV_DIS3 500 | ||
param set-default SIM_GZ_SV_FAIL3 500 | ||
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# Gas engine throttle, PCA9685 servo channel 4, "RC AUX1" (407) - left knob, or "Servo 4" (204): | ||
# - on minimum when disarmed or failed: | ||
param set-default SIM_GZ_SV_FUNC4 204 | ||
param set-default SIM_GZ_SV_MIN4 0 | ||
param set-default SIM_GZ_SV_MAX4 1000 | ||
param set-default SIM_GZ_SV_DIS4 500 | ||
param set-default SIM_GZ_SV_FAIL4 500 | ||
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# Controlling PCA9685 servos 5,6,7,8 directly via "Servo 5..8" setting, by publishing actuator_servos.control[]: | ||
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# Strobes, PCA9685 servo channel 5, "Servo 5" (205) - flashing indicates Mission mode: | ||
#param set-default SIM_GZ_SV_FUNC5 205 | ||
#param set-default SIM_GZ_SV_MIN5 1000 | ||
#param set-default SIM_GZ_SV_MAX5 2000 | ||
#param set-default SIM_GZ_SV_DIS5 1000 | ||
#param set-default SIM_GZ_SV_FAIL5 1000 | ||
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# Horn, PCA9685 servo channel 6, "Servo 6" (206) - for alarms like GPS failure: | ||
#param set-default SIM_GZ_SV_FUNC6 206 | ||
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# Spare PCA9685 servo channel 7 on "RC AUX2" (408) - right knob, or "Servo 7" (207): | ||
#param set-default SIM_GZ_SV_FUNC7 207 | ||
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# Spare PCA9685 servo channel 8 - "Servo 8" (208): | ||
#param set-default SIM_GZ_SV_FUNC8 208 |
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