From 7a6ff4742d0baa71e5a2749206222931737d64a2 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lorenz@px4.io>
Date: Tue, 7 Jun 2016 21:25:35 +0200
Subject: [PATCH] Add Solo sim model (#4761)
---
Makefile | 2 +-
posix-configs/SITL/init/rcS_gazebo_solo | 75 +++++++++++++++++++++++++
src/firmware/posix/CMakeLists.txt | 2 +-
3 files changed, 77 insertions(+), 2 deletions(-)
create mode 100644 posix-configs/SITL/init/rcS_gazebo_solo
diff --git a/Makefile b/Makefile
index 6ec7d72f78..26aad575a8 100644
--- a/Makefile
+++ b/Makefile
@@ -315,7 +315,7 @@ distclean: submodulesclean
cmake_targets = test upload package package_source debug debug_tui debug_ddd debug_io debug_io_tui debug_io_ddd check_weak \
run_cmake_config config gazebo gazebo_gdb gazebo_lldb jmavsim replay \
jmavsim_gdb jmavsim_lldb gazebo_gdb_iris gazebo_lldb_tailsitter gazebo_iris gazebo_iris_opt_flow gazebo_tailsitter \
- gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane
+ gazebo_gdb_standard_vtol gazebo_lldb_standard_vtol gazebo_standard_vtol gazebo_plane gazebo_solo
$(foreach targ,$(cmake_targets),$(eval $(call cmake-targ,$(targ))))
.PHONY: clean
diff --git a/posix-configs/SITL/init/rcS_gazebo_solo b/posix-configs/SITL/init/rcS_gazebo_solo
new file mode 100644
index 0000000000..e4d8c958a9
--- /dev/null
+++ b/posix-configs/SITL/init/rcS_gazebo_solo
@@ -0,0 +1,75 @@
+uorb start
+param load
+param set MAV_TYPE 2
+param set SYS_AUTOSTART 4010
+param set SYS_RESTART_TYPE 2
+dataman start
+param set CAL_GYRO0_ID 2293768
+param set CAL_ACC0_ID 1376264
+param set CAL_ACC1_ID 1310728
+param set CAL_MAG0_ID 196616
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_XOFF 0.01
+param set CAL_MAG0_XOFF 0.01
+param set SENS_BOARD_ROT 8
+param set SENS_BOARD_X_OFF 0.000001
+param set COM_RC_IN_MODE 1
+param set NAV_DLL_ACT 2
+param set COM_DISARM_LAND 3
+param set NAV_ACC_RAD 2.0
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+param set RTL_LAND_DELAY 0
+param set MIS_TAKEOFF_ALT 2.5
+param set MC_ROLLRATE_P 0.5
+param set MC_PITCHRATE_P 0.5
+param set MC_PITCH_P 5
+param set MC_ROLL_P 5
+param set MC_ROLLRATE_I 0.1
+param set MC_PITCHRATE_I 0.1
+param set MPC_HOLD_MAX_Z 2.0
+param set MPC_HOLD_XY_DZ 0.1
+param set MPC_Z_VEL_P 0.8
+param set MPC_Z_VEL_I 0.15
+param set MPC_XY_VEL_P 0.15
+param set MPC_XY_VEL_I 0.2
+param set EKF2_GBIAS_INIT 0.01
+param set EKF2_ANGERR_INIT 0.01
+simulator start -s
+rgbledsim start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+pwm_out_sim mode_pwm
+sleep 1
+sensors start
+commander start
+land_detector start multicopter
+navigator start
+ekf2 start
+mc_pos_control start
+mc_att_control start
+mixer load /dev/pwm_output0 ../../../../ROMFS/px4fmu_common/mixers/quad_w.main.mix
+mavlink start -u 14556 -r 4000000
+mavlink start -u 14557 -r 4000000 -m onboard -o 14540
+mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u 14556
+mavlink stream -r 50 -s LOCAL_POSITION_NED -u 14556
+mavlink stream -r 50 -s GLOBAL_POSITION_INT -u 14556
+mavlink stream -r 50 -s ATTITUDE -u 14556
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u 14556
+mavlink stream -r 50 -s ATTITUDE_TARGET -u 14556
+mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u 14556
+mavlink stream -r 20 -s RC_CHANNELS -u 14556
+mavlink stream -r 250 -s HIGHRES_IMU -u 14556
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u 14556
+sdlog2 start -r 100 -e -t -a
+mavlink boot_complete
diff --git a/src/firmware/posix/CMakeLists.txt b/src/firmware/posix/CMakeLists.txt
index 0da29d151f..a1c5f1c374 100644
--- a/src/firmware/posix/CMakeLists.txt
+++ b/src/firmware/posix/CMakeLists.txt
@@ -128,7 +128,7 @@ add_dependencies(run_config mainapp)
foreach(viewer none jmavsim gazebo replay)
foreach(debugger none gdb lldb ddd valgrind)
- foreach(model none iris iris_opt_flow tailsitter standard_vtol plane)
+ foreach(model none iris iris_opt_flow tailsitter standard_vtol plane solo)
if (debugger STREQUAL "none")
if (model STREQUAL "none")
set(_targ_name "${viewer}")
--
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