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README.md

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Purpose

The idea of this tool is to automate the writing of the gazebo parameters by automatizing the passage from the QGC parameters to the gazebo parameters as well as create the necessary files to run a simulation.

Setup

In order to run this tool, it is possible to use an semi-automated method or a manual method to do so follow these steps:

Run

  1. Open QGC and obtain the parameters of the vehicle to mimic in simulation.
  2. Run python3 run.py --params_file <QGC_parameters_file.params>
  3. Place the output in the simulated plane under (PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes) and added it in the CMakeList.txt
  4. Run a simulation of the given vehicle and copy the errors to the errors.txt file (not all parameters are implemented in gz compared with the QGC so: 'ERROR [param] Parameter PARAM_NAME not found.' is an expected output from gazebo)
  5. Run python3 clean.py <romfs_path> <error_path> (this will comment out the parameters that were giving as errors)
  6. Run python3 file_checker.py <romfs_filename> (this will check for any double definitions)
  7. Place the new output under (PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes)

Automated

  1. Open QGC and obtain the parameters of the vehicle to mimic in simulation.
  2. Run python3 run.py --params_file <QGC_parameters_file.params>

Functionality

The tool first passes the parameters from the QGC format 1 1 ASPD_BETA_GATE 1 6 to the gazebo format param set-default ASPD_BETA_GATE 1.0, this file is appended to a copy of --romfs_file, its named is based on the given QGC_parameters_file.params and its placed under the --romfs_file location (assumed to be the PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes), if it allready existed it will be replacing the existing file otherwise it created and added to the CMakeList.txt, a gazebo simulation is ran using a bash script ´make_px4_script.sh´ from which the errors are taken, since not all px4 parameters are defined in gazebo, with this errors.txt file clean.py is ran commenting the parameters that are either on the error.txt file or in conflict with simulation parameters for example SENS_EN_GPSSIM, Since the GPS is simulated, any offsets calibrated for the real vehicle should not be applied in the simulation, lastly file_checker.py is ran to try to find any possible double definitions of parameters.

Usability

The current implementation provides a minimal working example. Note that this example is made to use PX4's Advanced Plane as a template and some manual ajustments are still required/encouraged since for example the number of control surfaced differs between the .param file and the gazebo Advanced Plane model

IMPORTANT POINTS TO NOTE

  • The simulation parameters being commented by clean.py because of simulated sensors ex. SENS_EN_GPSSIM made not be all the necessary or more than the necessary.
  • If parameter about the angle of pixhawk is defined this will be changed to 0 deg since the simulation does not behave correctly with any other orientation

Parameter Assignment

Below is a comprehensive list of the parameters that are commented based on the simulated sensors

SENS_EN_GPSSIM
CAL_ACC0_ID CAL_ACC0_PRIO CAL_ACC0_ROT CAL_ACC0_XOFF
CAL_ACC0_XSCALE CAL_ACC0_YOFF CAL_ACC0_YSCALE CAL_ACC0_ZOFF
CAL_ACC0_ZSCALE CAL_ACC1_ID CAL_ACC1_PRIO CAL_ACC1_ROT
CAL_ACC1_XOFF CAL_ACC1_XSCALE CAL_ACC1_YOFF CAL_ACC1_YSCALE
CAL_ACC1_ZOFF CAL_ACC1_ZSCALE CAL_ACC2_ID CAL_ACC3_ID
CAL_AIR_CMODEL CAL_AIR_TUBED_MM CAL_AIR_TUBELEN CAL_BARO0_ID
CAL_BARO1_ID CAL_BARO2_ID CAL_BARO3_ID CAL_GYRO0_ID
CAL_GYRO0_PRIO CAL_GYRO0_ROT CAL_GYRO0_XOFF CAL_GYRO0_YOFF
CAL_GYRO0_ZOFF CAL_GYRO1_ID CAL_GYRO1_PRIO CAL_GYRO1_ROT
CAL_GYRO1_XOFF CAL_GYRO1_YOFF CAL_GYRO1_ZOFF CAL_GYRO2_ID
CAL_GYRO3_ID
SENS_EN_MAGSIM
CAL_MAG0_ID CAL_MAG0_PRIO CAL_MAG0_ROT CAL_MAG0_XCOMP
CAL_MAG0_XODIAG CAL_MAG0_XOFF CAL_MAG0_XSCALE CAL_MAG0_YCOMP
CAL_MAG0_YODIAG CAL_MAG0_YOFF CAL_MAG0_YSCALE CAL_MAG0_ZCOMP
CAL_MAG0_ZODIAG CAL_MAG0_ZOFF CAL_MAG0_ZSCALE CAL_MAG1_ID
CAL_MAG1_PRIO CAL_MAG1_ROT CAL_MAG1_XCOMP CAL_MAG1_XODIAG
CAL_MAG1_XOFF CAL_MAG1_XSCALE CAL_MAG1_YCOMP CAL_MAG1_YODIAG
CAL_MAG1_YOFF CAL_MAG1_YSCALE CAL_MAG1_ZCOMP CAL_MAG1_ZODIAG
CAL_MAG1_ZOFF CAL_MAG1_ZSCALE CAL_MAG2_ID CAL_MAG2_ROT
CAL_MAG3_ID CAL_MAG3_ROT CAL_MAG_COMP_TYP CAL_MAG_SIDES
SENS_EN_ARSPDSIM
ASPD_BETA_GATE ASPD_BETA_NOISE ASPD_DO_CHECKS ASPD_FALLBACK_GW
ASPD_FS_INNOV ASPD_FS_INTEG ASPD_FS_T_START ASPD_FS_T_STOP
ASPD_PRIMARY ASPD_SCALE_1 ASPD_SCALE_2 ASPD_SCALE_3
ASPD_SCALE_APPLY ASPD_SCALE_NSD ASPD_TAS_GATE ASPD_TAS_NOISE
ASPD_WERR_THR ASPD_WIND_NSD

Future Work

The tool, while self-contained, could be expanded into multiple directions.

  1. The make px4_sitl gz_ should be closed upon completion of the errors check, since its just a step of the process.
  2. A better file_checker.py can be written to check for example a diference between QGC and gz control surfaces.