Px4-xplane sitl airframe for Fixed Wing and Multicopter and VTOL

ROMFS/px4fmu_common/init.d-posix/airframes/5001_xplane_c172

@@ -0,0 +1,132 @@
+#!/bin/sh
+#
+# PX4 SITL Configuration Script for Cessna 172 Skyhawk in X-Plane
+#
+# This script configures PX4 SITL for a Cessna 172 Skyhawk, a standard fixed-wing plane.
+# It's tailored for integration with X-Plane, a custom simulator, facilitating real-world scale simulation.
+#
+# Usage: Run with 'make px4_sitl xplane_c172'.
+#
+# @name: Cessna 172 Skyhawk
+# Compatible Simulator: X-Plane
+# @type Standard Plane
+# @maintainer alireza787b <[email protected]>
+# Date: Nov 2023
+# @url https://github.com/alireza787b/px4xplane/
+#
+# ---- Start of Configuration ----
+
+# Load default configuration for fixed-wing aircraft
+. ${R}etc/init.d/rc.fw_defaults
+
+# ---- Airframe Configuration Parameters ----
+# These parameters define the physical configuration of the Cessna 172 Skyhawk airframe
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+
+# ---- Control Surface Configuration ----
+# Configuration of control surfaces for flight control and maneuvering
+param set-default CA_SV_CS_COUNT 4
+param set-default CA_SV_CS0_TYPE 1
+param set-default CA_SV_CS0_TRQ_R -0.5
+param set-default CA_SV_CS1_TYPE 2
+param set-default CA_SV_CS1_TRQ_R 0.5
+param set-default CA_SV_CS2_TYPE 3
+param set-default CA_SV_CS2_TRQ_P 1.0
+param set-default CA_SV_CS3_TYPE 4
+param set-default CA_SV_CS3_TRQ_Y 1.0
+
+# ---- Simulator Sensor Configuration ----
+# Enabling simulated sensors for integration with X-Plane
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+# ---- PWM Output Configuration ----
+# Assignments for PWM main outputs
+param set-default PWM_MAIN_FUNC1 201
+param set-default PWM_MAIN_FUNC2 202
+param set-default PWM_MAIN_FUNC3 203
+param set-default PWM_MAIN_FUNC4 101
+param set-default PWM_MAIN_FUNC5 204
+param set-default PWM_MAIN_FUNC6 204
+
+# ---- Fixed-wing Specific Parameters ----
+# Parameters specific to fixed-wing flight dynamics
+param set-default FW_AIRSPD_MAX 75.0000
+param set-default FW_AIRSPD_MIN 30.0000
+param set-default FW_AIRSPD_STALL 25.0000
+param set-default FW_AIRSPD_TRIM 45.0000
+param set-default ASPD_FALLBACK_GW 1
+param set-default FW_RR_FF 4.8000
+param set-default FW_R_LIM 30.0000
+param set-default LNDFW_VEL_XY_MAX 15.0000
+param set-default FW_LND_FLALT  5.0000
+param set-default RTL_LOITER_RAD 1000.0000
+param set-default FW_LND_FL_PMAX 35.0000
+
+# ---- PWM Reversals ----
+# Configuration for reversing the PWM signal
+param set-default PWM_MAIN_REV 7
+
+# ---- Logging Configuration ----
+# Settings related to flight data logging
+param set-default SDLOG_MODE 0
+
+# ---- Circuit Breakers ----
+# Disabling various system checks (use with caution)
+param set-default CBRK_USB_CHK 197848      # Disable USB check
+param set-default CBRK_SUPPLY_CHK 894281   # Disable real battery check
+param set-default CBRK_IO_SAFETY 22027     # Disable safety switch check
+param set-default CBRK_AIRSPD_CHK 1612128  # Disable airspeed sensor check
+
+# ---- End of Configuration ----
+#new
+
+param set-default FW_TKO_AIRSPD 32.0000
+param set-default FW_TKO_PITCH_MIN 20.0000
+param set-default FW_T_CLMB_MAX 6.0000
+param set-default FW_WING_HEIGHT 2.5000
+param set-default FW_WING_SPAN 11.0000
+param set-default MIS_DIST_1WP 5000.0000
+param set-default MIS_TAKEOFF_ALT 100.0000
+param set-default MIS_TKO_LAND_REQ 0
+param set-default NAV_LOITER_RAD 1000.0000
+param set-default RTL_MIN_DIST 50.0000
+param set-default WEIGHT_BASE 1000.0000
+param set-default WEIGHT_GROSS 1000.0000
+param set-default CA_ROTOR0_PX 1.2000
+
+
+param set-default CA_R0_SLEW 2.0000
+param set-default EKF2_ABL_ACCLIM 35.0000
+param set-default EKF2_MAG_DELAY 1.0000
+param set-default FW_LND_ABORT 0
+param set-default FW_PN_R_SLEW_MAX 50.0000
+param set-default FW_PR_FF 3.4000
+param set-default FW_PR_I 0.0450
+param set-default FW_PR_P 0.3650
+param set-default FW_P_LIM_MAX 20.0000
+param set-default FW_P_LIM_MIN -15.0000
+param set-default FW_P_TC 0.4500
+param set-default FW_RR_P 0.4700
+param set-default FW_R_RMAX 10.0000
+param set-default FW_R_TC 0.6000
+param set-default FW_T_ALT_TC 10.0000
+param set-default FW_T_I_GAIN_THR 0.0200
+param set-default FW_T_RLL2THR 5.0000
+param set-default FW_T_STE_R_TC 2.5000
+param set-default FW_T_THR_DAMP 0.0000
+param set-default LNDFW_AIRSPD_MAX 30.0000
+param set-default MIS_YAW_ERR 15.0000
+param set-default NAV_ACC_RAD 300.0000
+param set-default NAV_FW_ALT_RAD 50.0000
+param set-default NAV_MIN_LTR_ALT -1.0000
+
+param set-default EKF2_MAG_TYPE 0
+param set-default FW_LND_AIRSPD 36.0000
+param set-default FW_PR_D 0.3550
+param set-default FW_RR_D 0.0850
+param set-default FW_RR_I 0.1300
+param set-default SYS_HAS_MAG 1

ROMFS/px4fmu_common/init.d-posix/airframes/5010_xplane_ehang4

@@ -0,0 +1,187 @@
+#!/bin/sh
+#
+# PX4 SITL Configuration Script for Ehang Airtaxi (QuadCopter) in X-Plane
+#
+# This script configures PX4 SITL for the Ehang Airtaxi, modelled as a quadcopter.
+# It's specifically designed for X-Plane simulation, representing a more sophisticated Multirotor simulation.
+#
+# Usage: Run with 'make px4_sitl xplane_ehang4'.
+#
+# Airframe: Ehang Airtaxi
+# Compatible Simulator: X-Plane
+# @name ehang4 (QuadCopter) X-Plane SITL
+# @type Quadrotor Wide
+# @maintainer alireza787b <[email protected]>
+# Date: Nov 2023
+# @url https://github.com/alireza787b/px4xplane/
+
+# ---- Start of Configuration ----
+
+
+. ${R}etc/init.d/rc.mc_defaults
+
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR3_KM -0.05
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default CA_FAILURE_MODE 0
+param set-default CA_METHOD 2
+param set-default CA_ROTOR0_AZ -1
+param set-default CA_ROTOR0_CT 6.5
+param set-default CA_ROTOR0_KM -0.05
+param set-default CA_ROTOR0_PX 1.4
+param set-default CA_ROTOR0_PY -1.4
+param set-default CA_ROTOR1_AX 0
+param set-default CA_ROTOR1_AY 0
+param set-default CA_ROTOR1_AZ -1
+param set-default CA_ROTOR1_CT 6.5
+param set-default CA_ROTOR1_PX 1.4
+param set-default CA_ROTOR1_PY 1.4
+param set-default CA_ROTOR1_PZ 0
+param set-default CA_ROTOR2_AX 0
+param set-default CA_ROTOR2_AY 0
+param set-default CA_ROTOR2_AZ -1
+param set-default CA_ROTOR2_CT 6.5
+param set-default CA_ROTOR2_KM 0.05
+param set-default CA_ROTOR2_PX -1.4
+param set-default CA_ROTOR2_PY -1.4
+param set-default CA_ROTOR2_PZ 0
+param set-default CA_ROTOR3_AX 0
+param set-default CA_ROTOR3_AY 0
+param set-default CA_ROTOR3_AZ -1
+param set-default CA_ROTOR3_CT 6.5
+param set-default CA_ROTOR3_PX -1.4
+param set-default CA_ROTOR3_PY 1.4
+param set-default CA_ROTOR3_PZ 0
+
+param set-default CP_DELAY 0.4
+param set-default CP_DIST -1
+param set-default CP_GO_NO_DATA 0
+param set-default CP_GUIDE_ANG 30
+param set-default EKF2_TAS_GATE 3
+param set-default EKF2_WIND_NSD 0.01
+param set-default FLW_TGT_ALT_M 0
+param set-default FLW_TGT_DST 8
+param set-default FLW_TGT_FA 180
+param set-default FLW_TGT_HT 8
+param set-default FLW_TGT_MAX_VEL 5
+param set-default FLW_TGT_RS 0.1
+param set-default FW_PSP_OFF 0
+param set-default GPS_UBX_DYNMODEL 6
+param set-default HTE_ACC_GATE 3
+param set-default HTE_HT_ERR_INIT 0.1
+param set-default HTE_HT_NOISE 0.0036
+param set-default HTE_THR_RANGE 0.2
+param set-default HTE_VXY_THR 10
+param set-default HTE_VZ_THR 2
+param set-default IMU_GYRO_RATEMAX 800
+param set-default LNDMC_ALT_GND 2
+param set-default LNDMC_ROT_MAX 20
+param set-default LNDMC_TRIG_TIME 1
+param set-default LNDMC_XY_VEL_MAX 1.5
+param set-default LNDMC_Z_VEL_MAX 0.25
+param set-default MC_ACRO_EXPO 0
+param set-default MC_ACRO_EXPO_Y 0
+param set-default MC_ACRO_P_MAX 100
+param set-default MC_ACRO_R_MAX 100
+param set-default MC_ACRO_SUPEXPO 0
+param set-default MC_ACRO_SUPEXPOY 0
+param set-default MC_ACRO_Y_MAX 100
+param set-default MC_AT_APPLY 1
+param set-default MC_AT_RISE_TIME 0.14
+param set-default MC_AT_START 0
+param set-default MC_AT_SYSID_AMP 0.7
+param set-default MC_BAT_SCALE_EN 0
+param set-default MC_MAN_TILT_TAU 0
+param set-default MC_ORBIT_RAD_MAX 1000
+param set-default MC_PITCHRATE_D 0.01
+param set-default MC_PITCHRATE_FF 0
+param set-default MC_PITCHRATE_I 0.1
+param set-default MC_PITCHRATE_K 3
+param set-default MC_PITCHRATE_MAX 220
+param set-default MC_PITCHRATE_P 0.15
+param set-default MC_PR_INT_LIM 0.3
+param set-default MC_ROLLRATE_D 0.01
+param set-default MC_ROLLRATE_FF 0
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLLRATE_K 2.25
+param set-default MC_ROLLRATE_MAX 220
+param set-default MC_ROLLRATE_P 0.15
+param set-default MC_RR_INT_LIM 0.3
+param set-default MC_YAWRATE_I 0
+param set-default MC_YAWRATE_K 0.6
+param set-default MC_YAW_WEIGHT 0.4
+param set-default MPC_ALT_MODE 0
+param set-default MPC_HOLD_MAX_XY 0.8
+param set-default MPC_HOLD_MAX_Z 0.6
+param set-default MPC_LAND_ALT1 10
+param set-default MPC_LAND_ALT2 5
+param set-default MPC_LAND_ALT3 1
+param set-default MPC_LAND_CRWL 0.3
+param set-default MPC_LAND_RADIUS 1000
+param set-default MPC_MANTHR_MIN 0.08
+param set-default MPC_MAN_TILT_MAX 35
+param set-default MPC_MAN_Y_TAU 0.08
+param set-default MPC_POS_MODE 4
+param set-default MPC_THR_CURVE 0
+param set-default MPC_THR_HOVER 0.5
+param set-default MPC_THR_MAX 1
+param set-default MPC_THR_MIN 0.12
+param set-default MPC_THR_XY_MARG 0.3
+param set-default MPC_TILTMAX_AIR 45
+param set-default MPC_TILTMAX_LND 12
+param set-default MPC_TKO_RAMP_T 3
+param set-default MPC_TKO_SPEED 1.5
+param set-default MPC_USE_HTE 1
+param set-default MPC_VELD_LP 5
+param set-default MPC_VEL_MANUAL 10
+param set-default MPC_VEL_MAN_BACK -1
+param set-default MPC_VEL_MAN_SIDE -1
+param set-default MPC_XY_ERR_MAX 2
+param set-default MPC_XY_MAN_EXPO 0.6
+param set-default MPC_XY_P 0.05
+param set-default MPC_XY_TRAJ_P 0.5
+param set-default MPC_XY_VEL_ALL -10
+param set-default MPC_XY_VEL_D_ACC 1.5
+param set-default MPC_XY_VEL_I_ACC 0.2
+param set-default MPC_XY_VEL_MAX 12
+param set-default MPC_XY_VEL_P_ACC 1.2
+param set-default MPC_YAW_EXPO 0.6
+param set-default MPC_YAW_MODE 0
+param set-default MPC_Z_MAN_EXPO 0.6
+param set-default MPC_Z_P 0.25
+param set-default MPC_Z_VEL_ALL -3
+param set-default MPC_Z_VEL_D_ACC 0.2
+param set-default MPC_Z_VEL_I_ACC 2
+param set-default MPC_Z_VEL_MAX_DN 1.5
+param set-default MPC_Z_VEL_MAX_UP 3
+param set-default MPC_Z_VEL_P_ACC 3
+param set-default NAV_ACC_RAD 2
+param set-default RTL_DESCEND_ALT 10
+param set-default RTL_RETURN_ALT 30
+param set-default SYS_VEHICLE_RESP -0.4
+param set-default WV_EN 0
+param set-default WV_GAIN 1
+param set-default WV_ROLL_MIN 1
+param set-default WV_YRATE_MAX 90
+param set-default MC_PITCH_P 0.3
+param set-default MC_ROLL_P 0.3
+param set-default MC_YAWRATE_D 0
+param set-default MC_YAWRATE_FF 0.2
+param set-default MC_YAWRATE_MAX 100
+param set-default MC_YAWRATE_P 2
+param set-default MC_YAW_P 0.6
+param set-default MC_YR_INT_LIM 0.3
+param set-default MPC_HOLD_DZ 0.3
+param set-default MPC_JERK_AUTO 1
+param set-default MPC_JERK_MAX 3
+param set-default MPC_LAND_RC_HELP 1
+param set-default MPC_MAN_Y_MAX 30
+param set-default MPC_XY_CRUISE 10
+param set-default MPC_YAWRAUTO_ACC 20
+param set-default MPC_YAWRAUTO_MAX 30

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -81,6 +81,9 @@ px4_add_romfs_files(
 	4006_gz_px4vision
 	4008_gz_advanced_plane
 
+	5001_xplane_c172
+	5010_xplane_ehang4
+
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
 

src/modules/simulation/simulator_mavlink/CMakeLists.txt

@@ -71,3 +71,28 @@ add_custom_target(none_iris
 		${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/10016_none_iris
 	COMMENT "launching px4 none_iris (SYS_AUTOSTART=10016)"
 )
+
+
+# xplane_c172 (legacy compatibility launch helper)
+add_custom_target(xplane_c172
+	COMMAND ${CMAKE_COMMAND} -E env PX4_SYS_AUTOSTART=5001 $<TARGET_FILE:px4>
+	WORKING_DIRECTORY ${SITL_WORKING_DIR}
+	USES_TERMINAL
+	DEPENDS
+		px4
+		${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/5001_xplane_c172
+	COMMENT "launching px4 none_plane (SYS_AUTOSTART=5001)"
+)
+
+
+# xplane_ehang4 (legacy compatibility launch helper)
+add_custom_target(xplane_ehang4
+	COMMAND ${CMAKE_COMMAND} -E env PX4_SYS_AUTOSTART=5010 $<TARGET_FILE:px4>
+	WORKING_DIRECTORY ${SITL_WORKING_DIR}
+	USES_TERMINAL
+	DEPENDS
+		px4
+		${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/5010_xplane_ehang4
+	COMMENT "launching px4 none_plane (SYS_AUTOSTART=5010)"
+)
+