New GZ SIM compatible SITL build and rover fixes

ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna

@@ -11,14 +11,13 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
 
 param set-default SIM_GZ_EN 1
+param set-default SIM_GZ_RUN_GZSIM 0
 
 param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 
-
-
 param set-default FW_LND_ANG 8
 
 param set-default NPFG_PERIOD 12

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -12,9 +12,10 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
 
 param set-default SIM_GZ_EN 1
+param set-default SIM_GZ_RUN_GZSIM 0
 
 param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
+param set-default SENS_EN_BAROSIM 1
 param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1
 

ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_fog_x

@@ -0,0 +1,71 @@
+#!/bin/sh
+#
+# @name Gazebo x500
+#
+# @type Quadrotor x
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=holybro-x500}
+
+param set-default SIM_GZ_EN 1
+param set-default SIM_GZ_RUN_GZSIM 0
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+
+param set-default CA_AIRFRAME 0
+param set-default CA_ROTOR_COUNT 4
+
+param set-default CA_ROTOR0_PX 0.175
+param set-default CA_ROTOR0_PY 0.175
+param set-default CA_ROTOR0_KM  0.05
+
+param set-default CA_ROTOR1_PX -0.175
+param set-default CA_ROTOR1_PY -0.175
+param set-default CA_ROTOR1_KM  0.05
+
+param set-default CA_ROTOR2_PX 0.175
+param set-default CA_ROTOR2_PY -0.175
+param set-default CA_ROTOR2_KM -0.05
+
+param set-default CA_ROTOR3_PX -0.175
+param set-default CA_ROTOR3_PY 0.175
+param set-default CA_ROTOR3_KM -0.05
+
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_FUNC2 102
+param set-default SIM_GZ_EC_FUNC3 103
+param set-default SIM_GZ_EC_FUNC4 104
+
+param set-default SIM_GZ_EC_MIN1 150
+param set-default SIM_GZ_EC_MIN2 150
+param set-default SIM_GZ_EC_MIN3 150
+param set-default SIM_GZ_EC_MIN4 150
+
+param set-default SIM_GZ_EC_MAX1 1000
+param set-default SIM_GZ_EC_MAX2 1000
+param set-default SIM_GZ_EC_MAX3 1000
+param set-default SIM_GZ_EC_MAX4 1000
+
+param set-default MPC_THR_HOVER 0.60
+
+# extra
+param set COM_RCL_EXCEPT 4
+param set NAV_DLL_ACT 0
+param set NAV_RCL_ACT 0
+param set MAV_0_BROADCAST 1
+param set IMU_GYRO_CUTOFF 60
+param set IMU_DGYRO_CUTOFF 30
+param set MC_ROLLRATE_P 0.14
+param set MC_PITCHRATE_P 0.14
+param set MC_ROLLRATE_I 0.3
+param set MC_PITCHRATE_I 0.3
+param set MC_ROLLRATE_D 0.004
+param set MC_PITCHRATE_D 0.004
+param set BAT_N_CELLS 4
+param set SDLOG_MODE 0

ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8

@@ -0,0 +1,95 @@
+#!/bin/sh
+#
+# @name SSRC Skywalker X8
+#
+# @type Flying Wing
+# @class Plane
+#
+
+. /etc/init.d/rc.fw_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=skywalker_x8}
+
+param set-default SIM_GZ_EN 1
+param set-default SIM_GZ_RUN_GZSIM 0
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_BAROSIM 0
+param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
+
+# Control allocator parameters
+param set-default CA_AIRFRAME 1
+param set-default CA_ROTOR_COUNT 1
+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_R -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_R 0.5
+
+# GZ SIM
+param set-default SIM_GZ_EC_FUNC1 101
+param set-default SIM_GZ_EC_MIN1 0
+param set-default SIM_GZ_EC_MAX1 1000
+
+param set-default SIM_GZ_SV_FUNC1 201
+param set-default SIM_GZ_SV_FUNC2 202
+
+# Airspeed parameters
+param set-default ASPD_PRIMARY 1
+# param set-default FW_AIRSPD_MAX 22.0
+# param set-default FW_AIRSPD_MIN 14.0
+# param set-default FW_AIRSPD_STALL 12.0
+# param set-default FW_AIRSPD_TRIM 18.0
+
+# Maximum landing slope angle in deg
+param set-default FW_LND_ANG 8
+
+# RC loss failsafe to HOLD mode
+param set-default COM_RC_IN_MODE 1
+
+# Fixed wing control
+# Pitch rate
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5
+param set-default TRIM_PITCH -0.15
+# Pitch angle in deg
+param set-default FW_PSP_OFF 0
+param set-default FW_P_LIM_MIN -15
+# Roll rate
+param set-default FW_RR_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+# Yaw rate
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+# Throttle limit
+# param set-default FW_THR_MAX 0.6
+# param set-default FW_THR_MIN 0.05
+# param set-default FW_THR_TRIM 0.25
+# Climb and sink rate
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+
+# Navigation
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+
+# Misc
+param set-default MIS_TAKEOFF_ALT 30.0
+param set-default RTL_RETURN_ALT 30.0
+
+# Disable internal magnetometer
+param set CAL_MAG0_PRIO 0
+
+# Catapult launch with acc threshold trigger
+param set-default FW_LAUN_DETCN_ON 1
+param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
+param set-default FW_LAUN_AC_THLD 10

ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini_rover

@@ -0,0 +1,77 @@
+#!/bin/sh
+#
+# @name SSRC SCOUT MINI UGV
+#
+# @url https://global.agilex.ai/products/scout-mini
+#
+# @type Rover
+# @class Rover
+#
+
+. ${R}etc/init.d/rc.rover_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=scout_mini}
+
+param set-default SIM_GZ_EN 1
+param set-default SIM_GZ_RUN_GZSIM 0
+
+param set-default CA_AIRFRAME 6
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+
+param set IMU_GYRO_CUTOFF 60
+param set IMU_DGYRO_CUTOFF 30
+
+param set-default SYS_HAS_BARO 0
+
+param set-default BAT1_N_CELLS 4
+
+param set-default MIS_TAKEOFF_ALT 0.01
+
+param set-default NAV_ACC_RAD 0.5     # reached when within 0.5m of waypoint
+
+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
+# EKF2
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+param set-default EKF2_MAG_TYPE 1
+param set-default EKF2_REQ_SACC 1.0
+param set-default EKF2_REQ_VDRIFT 0.4
+param set-default EKF2_REQ_HDRIFT 0.2
+
+
+#################################
+# Rover Position Control Module #
+#################################
+
+param set-default GND_SP_CTRL_MODE 1
+param set-default GND_L1_DIST 5
+param set-default GND_L1_PERIOD 3
+param set-default GND_THR_CRUISE 1
+param set-default GND_THR_MAX 1
+
+# Because this is differential drive, it can make a turn with radius 0.
+# This corresponds to a turn angle of pi radians.
+# If a special case is made for differential-drive, this will need to change.
+param set-default GND_MAX_ANG 3.142
+param set-default GND_WHEEL_BASE 0.45
+
+# TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
+# to support negative throttle.
+param set-default GND_THR_MIN 0
+param set-default GND_SPEED_P 0.4
+param set-default GND_SPEED_I 1
+param set-default GND_SPEED_D 0.001
+param set-default GND_SPEED_MAX 3.0
+param set-default GND_SPEED_TRIM 3.0
+param set-default GND_SPEED_THR_SC 1.0
+param set-default GND_VEL_CTRL 1
+param set-default GND_ANG_VEL_CTRL 1
+param set-default GND_ACC_LIMIT 10
+param set-default GND_DEC_LIMIT 50

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

@@ -79,6 +79,9 @@ px4_add_romfs_files(
 	4004_gz_standard_vtol
 	4005_gz_x500_vision
 	4006_gz_px4vision
+	4401_gz_ssrc_fog_x
+	4440_gz_ssrc_skywalker_x8
+	50005_gz_ssrc_scout_mini_rover
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post