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[sitl] Implement gazbo-classic simulation of tailsitter with 2 rotors #26214

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[sitl] Implement gazbo-classic simulation of tailsitter with 2 rotors #26214

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54 changes: 15 additions & 39 deletions ROMFS/px4fmu_common/init.d-posix/airframes/1041_gazebo-classic_tailsitter
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Original file line number Diff line number Diff line change
@@ -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
53 changes: 53 additions & 0 deletions ROMFS/px4fmu_common/init.d-posix/airframes/1046_gazebo-classic_advanced_tailsitter
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Original file line number Diff line number Diff line change
@@ -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
1 change: 1 addition & 0 deletions ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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

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1 change: 1 addition & 0 deletions src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -79,6 +79,7 @@ if(gazebo_FOUND)
)

set(models
advanced_tailsitter
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@Jaeyoung-Lim Jaeyoung-Lim Jan 22, 2026

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Given that the tailsitter was not flying in gazebo classic, could we just use that airframe?

the word advanced is associated with the advanced_lift_drag plugin, which is not being used for this tailsitter.

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@hamishwillee hamishwillee Feb 4, 2026

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OK, thank you for the reminder, it is still waiting for review. @hamishwillee

@mengchaoheng It might still be waiting on your response to this

advanced_plane
believer
boat
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