Gazebo: add MiniHawk-VTOL model

MiniHawk-VTOL: initial model file and example world Signed-off-by: Rhys Mainwaring <[email protected]> MiniHawk-VTOL: add mesh files, joint plugins and adjust joints and CoMs Signed-off-by: Rhys Mainwaring <[email protected]> MiniHawk-VTOL: update world plugins and model orientation Signed-off-by: Rhys Mainwaring <[email protected]> MiniHawk-VTOL: fix elevon collisions and tilt mount joint limits and configure ardupilot Signed-off-by: Rhys Mainwaring <[email protected]> MiniHawk-VTOL: initial parameters (pre-tune) Signed-off-by: Rhys Mainwaring <[email protected]> MiniHawk-VTOL: reorient prop meshes and configure prop lift-drag Signed-off-by: Rhys Mainwaring <[email protected]> MiniHawk-VTOL: centre tilt mount meshes on CoG and add bi-blade params for lift-drag Signed-off-by: Rhys Mainwaring <[email protected]> MiniHawk-VTOL: switch to tri-blade props after moving cp to blade tips Signed-off-by: Rhys Mainwaring <[email protected]> MiniHawk-VTOL: update params after running Quick VTOL tune script Signed-off-by: Rhys Mainwaring <[email protected]> MiniHawk-VTOL: add initial estimates for lift-drag params on lifting surfaces Signed-off-by: Rhys Mainwaring <[email protected]> MiniHawk-VTOL: increase prop thrust, autotune qvtol and fbwa Signed-off-by: Rhys Mainwaring <[email protected]> MiniHawk-VTOL: remove debug visuals Signed-off-by: Rhys Mainwaring <[email protected]> MiniHawk-VTOL: adjust params Signed-off-by: Rhys Mainwaring <[email protected]> MiniHawk-VTOL: rename param file Signed-off-by: Rhys Mainwaring <[email protected]>
ArduPilot · Feb 14, 2024 · f9e530b · f9e530b
1 parent 835a747
commit f9e530b
Show file tree

Hide file tree

Showing 18 changed files with 4,152 additions and 0 deletions.
diff --git a/Gazebo/config/minihawk_vtol.param b/Gazebo/config/minihawk_vtol.param
diff --git a/Gazebo/models/minihawk_vtol/meshes/mh5_airframe.dae b/Gazebo/models/minihawk_vtol/meshes/mh5_airframe.dae
diff --git a/Gazebo/models/minihawk_vtol/meshes/mh5_airframe.stl b/Gazebo/models/minihawk_vtol/meshes/mh5_airframe.stl
diff --git a/Gazebo/models/minihawk_vtol/meshes/mh5_elevon_left.dae b/Gazebo/models/minihawk_vtol/meshes/mh5_elevon_left.dae
diff --git a/Gazebo/models/minihawk_vtol/meshes/mh5_elevon_left.stl b/Gazebo/models/minihawk_vtol/meshes/mh5_elevon_left.stl
diff --git a/Gazebo/models/minihawk_vtol/meshes/mh5_elevon_right.dae b/Gazebo/models/minihawk_vtol/meshes/mh5_elevon_right.dae
diff --git a/Gazebo/models/minihawk_vtol/meshes/mh5_elevon_right.stl b/Gazebo/models/minihawk_vtol/meshes/mh5_elevon_right.stl
diff --git a/Gazebo/models/minihawk_vtol/meshes/mh5_nacelle_left.dae b/Gazebo/models/minihawk_vtol/meshes/mh5_nacelle_left.dae
diff --git a/Gazebo/models/minihawk_vtol/meshes/mh5_nacelle_right.dae b/Gazebo/models/minihawk_vtol/meshes/mh5_nacelle_right.dae
diff --git a/Gazebo/models/minihawk_vtol/meshes/mh5_tilt_mount_left.dae b/Gazebo/models/minihawk_vtol/meshes/mh5_tilt_mount_left.dae
diff --git a/Gazebo/models/minihawk_vtol/meshes/mh5_tilt_mount_right.dae b/Gazebo/models/minihawk_vtol/meshes/mh5_tilt_mount_right.dae
diff --git a/Gazebo/models/minihawk_vtol/meshes/prop_triblade_5045_ccw.dae b/Gazebo/models/minihawk_vtol/meshes/prop_triblade_5045_ccw.dae
diff --git a/Gazebo/models/minihawk_vtol/meshes/prop_triblade_5045_ccw.stl b/Gazebo/models/minihawk_vtol/meshes/prop_triblade_5045_ccw.stl
diff --git a/Gazebo/models/minihawk_vtol/meshes/prop_triblade_5045_cw.dae b/Gazebo/models/minihawk_vtol/meshes/prop_triblade_5045_cw.dae
diff --git a/Gazebo/models/minihawk_vtol/meshes/prop_triblade_5045_cw.stl b/Gazebo/models/minihawk_vtol/meshes/prop_triblade_5045_cw.stl
diff --git a/Gazebo/models/minihawk_vtol/model.config b/Gazebo/models/minihawk_vtol/model.config
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<model>
+  <name>MiniHawk-VTOL</name>
+  <version>1.0</version>
+  <sdf version='1.9'>model.sdf</sdf>
+
+  <author>
+    <name>Steven Carlson</name>
+  </author>
+
+  <author>
+    <name>Rhys Mainwaring</name>
+  </author>
+
+  <description>
+    This is a model of Stephen Carlson's MiniHawk-VTOL.
+    https://github.com/StephenCarlson/MiniHawk-VTOL
+
+    triblade prop model
+    https://grabcad.com/library/tri-blade-5045-propeller-1
+  </description>
+</model>