Gazebo: add X-UAV Mini Talon V-Tail

- Add body link and visual and collision meshes.
- Add wheel link.
- Add wheel link - cleanup.
- Add aileron links.
- Add rudder links.
- Update position controller PIDs.
- Add rudder links - cleanup.
- Position motor and prop.
- Add motor link and thrust controller.
- Rename cockpit frame to forward deck.
- Rename rudder to ruddervator.
- Change control surface limits.
- Add ArduPilot plugin configured for v-tail.
- Add initial ArduPilot param file.
- Add doc.
- Update wheel link orientation and inertial.
- Move mesh origin to geometric centre.
- Update inertial.
- Update motor link inertial.
- Update base link inertial.
- Add cp visuals for main wing.
- Add lift-drag plugin for main wing.
- Switch order of wheel collision and visual elements.
- Update aileron link orientation and inertial.
- Move mesh origin to geometric centre.
- Update inertial and controller PIDs.
- Update motor velocity controller PIDs.
- Update lift-drag plugin for main wing.
- Update lift-drag plugin for v-tail.
- Add visuals for v-tail centre of pressure.
- Move mesh origin to geometric centre.
- Update inertial and controller PIDs.
- Add lift-drag plugins for v-tail and ruddervator.
- Add notes.
- Switch to lift-drag for prop thrust.
- Use motor / pusher inertial from zephyr.
- Increase gains on position controllers.
- Update params autotuning roll and pitch.
- Update doc.

Signed-off-by: Rhys Mainwaring <[email protected]>

Gazebo/config/mini_talon_vtail.param

@@ -0,0 +1,28 @@
+ARMING_RUDDER    0.000000
+RLL2SRV_RMAX     75.000000
+RLL_RATE_P       0.250811
+RLL_RATE_I       0.250811
+RLL_RATE_D       0.007486
+RLL_RATE_FF      0.339297
+RLL_RATE_FLTT    3.183099
+RLL_RATE_FLTD    10.000000
+PTCH2SRV_TCONST  0.750000
+PTCH2SRV_RMAX_UP 75.000000
+PTCH2SRV_RMAX_DN 75.000000
+PTCH_RATE_P      1.329862
+PTCH_RATE_I      1.022127
+PTCH_RATE_D      0.021373
+PTCH_RATE_FF     1.022127
+PTCH_RATE_FLTT   2.122066
+PTCH_RATE_FLTD   10.000000
+SERVO1_MIN       1000.000000
+SERVO1_MAX       2000.000000
+SERVO2_MIN       1000.000000
+SERVO2_MAX       2000.000000
+SERVO2_FUNCTION  79.000000
+SERVO3_MIN       1000.000000
+SERVO3_MAX       2000.000000
+SERVO4_MIN       1000.000000
+SERVO4_MAX       2000.000000
+SERVO4_FUNCTION  80.000000
+ARSPD_TYPE       0.000000

Gazebo/docs/X-UAV_Mini_Talon.md

@@ -0,0 +1,56 @@
+# X-UAV Mini Talon V-Tail
+
+Model for the X-UAV Mini Talon V-Tail plane for use with ArduPilot.
+
+## Usage
+
+Gazebo and the plugins should be installed as per the [ArduPilot Gazebo Plugin](https://github.com/ArduPilot/ardupilot_gazebo) instructions.
+
+Update the `GZ_SIM_RESOURCE_PATH` to include these models:
+
+```bash
+export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:\
+$HOME/SITL_Models/Gazebo/models:\
+$HOME/SITL_Models/Gazebo/worlds
+```
+
+#### Run Gazebo
+
+```bash
+gz sim -v4 -r vtail_runway.sdf
+```
+
+#### Run ArduPilot SITL
+
+```bash
+sim_vehicle.py -v ArduPlane -f JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/mini_talon_vtail.param --console --map
+```
+
+## Specifications
+
+- wingspan: 1300 mm
+- length: 830 mm
+- wing area: 30 dm^2
+- flying weight: 1.0 - 2.0 kg
+
+- 3s 11.1V
+  - 10x6 prop
+- 4s 14.8V
+  - 9x5 prop
+  - 3536 930kV motor
+  - 40A ESC  
+
+## General
+
+- Mark Qvale's [X-UAV Mini Talon Build Compilation](http://www.itsqv.com/QVM/index.php?title=X-UAV_Mini_Talon_Build_Compilation#Introduction).
+
+## Credits
+
+- Original Mini Talon X-UAV CAD model by Alessandro Bacchini,
+retrieved from GrabCAD 04 July 2023.
+  - https://grabcad.com/alessandro.bacchini-2
+  - https://grabcad.com/library/mini-talon-x-uav-1
+
+- PropDrive 3536 motor model by Seth Schaffer, retrieved from GrabCAD 04 July 2023.
+  - https://grabcad.com/seth.schaffer-1
+  - https://grabcad.com/library/configurable-propdrive-v2-brushless-motor-with-mount-plate-solidworks-2019-1