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Copter: update pose and lift plugin #43

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merged 4 commits into from
Jan 21, 2024
Merged

Copter: update pose and lift plugin #43

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2c581fd
Copter: disable moment coefficient contribution
srmainwaring Dec 21, 2023
c5bbcf4
Copter: update base scan pose
srmainwaring Dec 23, 2023
183e265
Copter: update iris pose in maze world
srmainwaring Dec 23, 2023
5dd3272
Copter: update runway and iris pose in runway world
srmainwaring Dec 23, 2023
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18 changes: 9 additions & 9 deletions ardupilot_gz_description/models/iris_with_lidar/model.sdf
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -41,7 +41,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -59,7 +59,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -76,7 +76,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -94,7 +94,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -111,7 +111,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -129,7 +129,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand All @@ -146,7 +146,7 @@
<alpha_stall>1.4</alpha_stall>
<cla>4.2500</cla>
<cda>0.10</cda>
<cma>0.00</cma>
<cma>0.0</cma>
<cla_stall>-0.025</cla_stall>
<cda_stall>0.0</cda_stall>
<cma_stall>0.0</cma_stall>
Expand Down Expand Up @@ -284,7 +284,7 @@


<link name="base_scan">
<pose>0 0 0.27 0 0 0</pose>
<pose>0 0 0.075077 0 0 0</pose>
<inertial>
<mass>0.1</mass>
<inertia>
Expand Down
2 changes: 1 addition & 1 deletion ardupilot_gz_gazebo/worlds/iris_maze.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -429,7 +429,7 @@
<include>
<uri>model://iris_with_lidar</uri>
<name>iris</name>
<pose degrees="true">0 0 0.194923 0 0 0</pose>
<pose degrees="true">0 0 0.195 0 0 0</pose>
</include>

</world>
Expand Down
4 changes: 2 additions & 2 deletions ardupilot_gz_gazebo/worlds/iris_runway.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -69,13 +69,13 @@

<include>
<uri>model://runway</uri>
<pose>0 0 0 0 0 1.57079632</pose>
<pose degrees="true">-29 545 0 0 0 363</pose>
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Why not 360 degrees?

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@srmainwaring srmainwaring Jan 21, 2024 •
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Why not 360 degrees?

CUAV airport does not quite lie N-S and I've attempted to align with that as it's the default location for AP SITL. But 003 deg would have been better! I'll get those next time...

</include>

<include>
<uri>model://iris_with_gimbal</uri>
<name>iris</name>
<pose>0 0 0.194923 0 0 1.57079632</pose>
<pose degrees="true">0 0 0.195 0 0 90</pose>
</include>

</world>
Expand Down