Gazebo: Add model for Omnicopter

1. Add initial version of Peter Hall's OmniCopter

- Initial version of Peter Hall's OmniCopter
- Add base model config and sdf
- Add mesh files for base, tail booms and spinners
- First draft of joint locations and orientations
- Add runway model to demo

2. Add props and system plugins
- Add prop visuals
- Add JointStatePublisher system plugin
- Add ApplyJointForce system plugins
- Add LiftDrag system plugins (2x for each prop)
- Add ArduPilotGazebo system plugin
- Add control elements for each prop (all linked to channel 2 for initial testing)
- Max RPM is 13185 (1381 rad/s)
- Set prop rotation reversible

3. Update inertials and PIDs
- Use settings from Iris quadcopter as an initial guess

4. Add force torque sensors to props and add params and scripts
- Set up servo params correctly for AP plugin
- Add parameters and scripts from the main AP repo and Peter Hall's RF model
- Add force torque sensors and system plugin
- Increase prop thrust by moving CP outwards and increasing prop area
- Increase area of base collision to provide 'training wheels' while attempting a tune

5. Change frame for force sensor, update prop lift and params
- Set params allow drone to circle, no stable attitude control

6. Add parameters and mixer for zero prop torque test case

7. Contract body collision and place motors precisely

- Contract body collision to 0.25 x 0.25 x 0.25 cube
- Use calculated values for motor positions and directions rather than estimates from Blender

8. Correct motor inertials

- Adjust motor inertials so they are centred on the joint positions (and are symmetrically arranged)

9. Add thumbnails

10. Rename config and param files

- Add suffix including the prop torque parameter value

11. Move thumbnails

12. Add model for Omnicopter

- Update names of parameter files.
- Add user document.

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

Gazebo/config/omnicopter.param

@@ -0,0 +1,71 @@
+AHRS_EKF_TYPE,10
+ANGLE_MAX,8000
+ATC_ANGLE_BOOST,0
+ATC_RAT_PIT_D,0.02
+ATC_RAT_PIT_I,0.015
+ATC_RAT_PIT_P,0.03
+ATC_RAT_RLL_D,0.02
+ATC_RAT_RLL_I,0.015
+ATC_RAT_RLL_P,0.03
+ATC_RAT_YAW_D,0.02
+ATC_RAT_YAW_FLTD,20
+ATC_RAT_YAW_FLTE,0
+ATC_RAT_YAW_FLTT,20
+ATC_RAT_YAW_I,0.025
+ATC_RAT_YAW_P,0.04
+AUTOTUNE_AGGR,0.1
+AUTOTUNE_AXES,7
+AUTOTUNE_MIN_D,0.001
+EK2_ENABLE,1
+EK3_ENABLE,0
+FLTMODE2,2
+FLTMODE3,5
+FLTMODE6,5
+FRAME_CLASS,16
+FRAME_TYPE,1
+FS_CRASH_CHECK,0
+MOT_PWM_MAX,2000
+MOT_PWM_MIN,1000
+MOT_SPIN_ARM,0.1
+MOT_SPIN_MAX,1
+MOT_SPIN_MIN,-1
+MOT_THST_EXPO,0.75
+MOT_THST_HOVER,0.25
+MOT_YAW_HEADROOM,50
+RC1_MAX,2000
+RC1_MIN,1000
+RC2_MAX,2000
+RC2_MIN,1000
+RC2_REVERSED,1
+RC3_MAX,2000
+RC3_MIN,1000
+RC4_MAX,2000
+RC4_MIN,1000
+RC8_OPTION,17
+SCR_DEBUG_LVL,0
+SCR_DIR_DISABLE,0
+SCR_ENABLE,1
+SCR_HEAP_SIZE,65536
+SCR_USER1,0
+SCR_USER2,0
+SCR_USER3,0
+SCR_USER4,0
+SCR_VM_I_COUNT,10000
+SERVO1_FUNCTION,33
+SERVO1_MAX,2000
+SERVO1_MIN,1000
+SERVO2_FUNCTION,34
+SERVO2_MAX,2000
+SERVO2_MIN,1000
+SERVO3_FUNCTION,35
+SERVO3_MAX,2000
+SERVO3_MIN,1000
+SERVO4_FUNCTION,36
+SERVO4_MAX,2000
+SERVO4_MIN,1000
+SERVO5_FUNCTION,37
+SERVO5_MAX,2000
+SERVO5_MIN,1000
+SERVO6_FUNCTION,38
+SERVO6_MAX,2000
+SERVO6_MIN,1000

Gazebo/docs/Omnicopter.md

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+# Omnicopter
+
+Model for the 6DoF omnicopter for use with ArduPilot.
+It is derived from the [version prepared for RealFlight](https://github.com/ArduPilot/SITL_Models/tree/master/RealFlight/WIP/iampete/Lynchpin).
+
+
+![omnicopter_2](https://user-images.githubusercontent.com/24916364/146563555-57b4afc7-dec5-4720-9446-d1dafb82aeca.png)
+
+![omnicopter_1_viz](https://user-images.githubusercontent.com/24916364/146563631-592c6459-d72c-45a7-86c6-09da64a96e22.png)
+
+## 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:\
+$HOME/SITL_Models/Gazebo/worlds
+```
+
+#### Run Gazebo
+
+```bash
+gz sim -v4 -r omnicopter_runway.sdf
+```
+
+#### Run ArduPilot SITL
+
+```bash
+sim_vehicle.py -v ArduCopter -f JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/omnicopter.param --console --map
+```

Gazebo/models/omnicopter/model.config

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<model>
+  <name>OmniCopter</name>
+  <version>1.0</version>
+  <sdf version='1.7'>model.sdf</sdf>
+
+  <author>
+    <name>Peter Hall</name>
+  </author>
+
+  <author>
+    <name>Rhys Mainwaring</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    This is a model of a 6DOF OmniCopter with ArduPilot integration.
+  </description>
+</model>