Implement gazbo-classic simulation of dual tailsitter

  - Update submodule sitl_gazebo-classic.

  - Modified the 1041_gazebo-classic_tailsitter parameter to achieve stable flight.

  - Add advanced_tailsitter

Author: mengchaoheng

ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter

@@ -1,77 +1,53 @@
 #!/bin/sh
 #
-# @name Quadrotor + Tailsitter
+# @name Tailsitter
 #
-# @type VTOL Quad Tailsitter
+# @type VTOL Tailsitter
 #
 
 . ${R}etc/init.d/rc.vtol_defaults
 
-param set-default MAV_TYPE 20
+param set-default MAV_TYPE 19
 
 param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
 
 param set-default CA_AIRFRAME 4
 
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 1
-param set-default CA_ROTOR0_PY 1
+param set-default CA_ROTOR_COUNT 2
 param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -1
-param set-default CA_ROTOR1_PY -1
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 1
-param set-default CA_ROTOR2_PY -1
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -1
-param set-default CA_ROTOR3_PY 1
-param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR0_PY -0.3
+param set-default CA_ROTOR0_PZ -0.2
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR1_PY 0.3
+param set-default CA_ROTOR1_PZ -0.2
 
 param set-default CA_SV_CS_COUNT 2
 param set-default CA_SV_CS0_TYPE 5
 param set-default CA_SV_CS0_TRQ_P 0.5
-param set-default CA_SV_CS0_TRQ_Y -0.5
+param set-default CA_SV_CS0_TRQ_Y 0.5
 param set-default CA_SV_CS1_TYPE 6
 param set-default CA_SV_CS1_TRQ_P 0.5
-param set-default CA_SV_CS1_TRQ_Y 0.5
+param set-default CA_SV_CS1_TRQ_Y -0.5
+param set-default VT_ELEV_MC_LOCK 0
 
 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 PWM_MAIN_FUNC5 0
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_REV 96 # invert both elevons
+param set-default PWM_MAIN_FUNC3 201
+param set-default PWM_MAIN_FUNC4 202
 
 # Single-EKF (for replay)
 param set-default EKF2_MULTI_IMU 0
 param set-default SENS_IMU_MODE 1
 
-param set-default FW_P_TC 0.6
-
 param set-default FW_PR_FF 0.0
 param set-default FW_PSP_OFF 2
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_I 0.2
-param set-default FW_RR_P 0.5
-param set-default FW_THR_TRIM 0.35
-param set-default FW_THR_MAX 0.8
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_CLMB_MAX 6
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 3
-param set-default FW_T_SINK_MIN 1.6
-
 param set-default MC_AIRMODE 1
-param set-default MC_ROLL_P 3
-param set-default MC_PITCH_P 3
+param set-default FW_THR_TRIM 0.6
 
 param set-default VT_ARSP_TRANS 10
 param set-default VT_B_TRANS_DUR 5
 param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_S_Y 1
-param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_TYPE 0
 
 param set-default WV_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/1046_gazebo-classic_advanced_tailsitter

@@ -0,0 +1,53 @@
+#!/bin/sh
+#
+# @name Advanced Tailsitter SITL
+#
+# @type VTOL Tailsitter
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default MAV_TYPE 19
+
+param set-default EKF2_FUSE_BETA 0 # side slip fusion is currently not supported for tailsitters
+
+param set-default CA_AIRFRAME 4
+
+param set-default CA_ROTOR_COUNT 2
+param set-default CA_ROTOR0_KM 0.05
+param set-default CA_ROTOR0_PY -0.3
+param set-default CA_ROTOR0_PZ -0.2
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR1_PY 0.3
+param set-default CA_ROTOR1_PZ -0.2
+
+param set-default CA_SV_CS_COUNT 2
+param set-default CA_SV_CS0_TYPE 5
+param set-default CA_SV_CS0_TRQ_P 0.5
+param set-default CA_SV_CS0_TRQ_Y 0.5
+param set-default CA_SV_CS1_TYPE 6
+param set-default CA_SV_CS1_TRQ_P 0.5
+param set-default CA_SV_CS1_TRQ_Y -0.5
+param set-default VT_ELEV_MC_LOCK 0
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 201
+param set-default PWM_MAIN_FUNC4 202
+
+# Single-EKF (for replay)
+param set-default EKF2_MULTI_IMU 0
+param set-default SENS_IMU_MODE 1
+
+param set-default FW_PR_FF 0
+param set-default FW_PSP_OFF 2
+param set-default MC_AIRMODE 1
+param set-default FW_THR_TRIM 0.6
+
+param set-default VT_ARSP_TRANS 10
+param set-default VT_B_TRANS_DUR 5
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_S_Y 1
+param set-default VT_TYPE 0
+
+param set-default WV_EN 0

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

@@ -62,6 +62,7 @@ px4_add_romfs_files(
 	1043_gazebo-classic_standard_vtol_drop
 	1044_gazebo-classic_plane_lidar
 	1045_gazebo-classic_quadtailsitter
+	1046_gazebo-classic_advanced_tailsitter
 	1062_flightgear_tf-r1
 	1070_gazebo-classic_boat
 

src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake

@@ -79,6 +79,7 @@ if(gazebo_FOUND)
 	)
 
 	set(models
+		advanced_tailsitter
 		advanced_plane
 		believer
 		boat