Feature/aruco world

.gitmodules

@@ -74,7 +74,7 @@
 	branch = px4
 [submodule "Tools/simulation/gz"]
 	path = Tools/simulation/gz
-	url = https://github.com/PX4/PX4-gazebo-models.git
+	url = git@github.com:hugo2410/PX4-gazebo-models.git
 	branch = main
 [submodule "boards/modalai/voxl2/libfc-sensor-api"]
 	path = boards/modalai/voxl2/libfc-sensor-api

ROMFS/px4fmu_common/init.d-posix/airframes/4099_gz_x500_custom_cam

@@ -0,0 +1,57 @@
+#!/bin/sh
+#
+# @name Gazebo x500 custom cam
+#
+# @type Quadrotor
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
+
+param set-default SIM_GZ_EN 1
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+
+param set-default CA_ROTOR0_PX 0.13
+param set-default CA_ROTOR0_PY 0.22
+param set-default CA_ROTOR0_KM  0.05
+
+param set-default CA_ROTOR1_PX -0.13
+param set-default CA_ROTOR1_PY -0.20
+param set-default CA_ROTOR1_KM  0.05
+
+param set-default CA_ROTOR2_PX 0.13
+param set-default CA_ROTOR2_PY -0.22
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.13
+param set-default CA_ROTOR3_PY 0.20
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 150
+param set-default SIM_GZ_EC_MIN2 150
+param set-default SIM_GZ_EC_MIN3 150
+param set-default SIM_GZ_EC_MIN4 150
+
+param set-default SIM_GZ_EC_MAX1 1000
+param set-default SIM_GZ_EC_MAX2 1000
+param set-default SIM_GZ_EC_MAX3 1000
+param set-default SIM_GZ_EC_MAX4 1000
+
+param set-default MPC_THR_HOVER 0.60
+param set-default NAV_DLL_ACT 0
+param set-default COM_RC_IN_MODE 4
+param set-default COM_RCL_EXCEPT 4

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

@@ -87,6 +87,7 @@ px4_add_romfs_files(
 	4013_gz_x500_lidar
 	4014_gz_x500_mono_cam_down
 	4015_gz_r1_rover_mecanum
+	4099_gz_x500_custom_cam
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

src/modules/simulation/gz_bridge/CMakeLists.txt

@@ -90,6 +90,7 @@ if(gz-transport_FOUND)
   		lawn
 		aruco
 		rover
+		custom_aruco
 	)
 
 	# find corresponding airframes