diff --git a/Gazebo/config/pik_20b_sailplane.param b/Gazebo/config/pik_20b_sailplane.param new file mode 100644 index 00000000..292ef25b --- /dev/null +++ b/Gazebo/config/pik_20b_sailplane.param @@ -0,0 +1,47 @@ +TKOFF_TDRAG_ELEV 100.000000 +TKOFF_TDRAG_SPD1 10.000000 +TKOFF_ROTATE_SPD 25.000000 +TKOFF_THR_SLEW 10.000000 +ARSPD_FBW_MIN 28.000000 +ARSPD_FBW_MAX 60.000000 +TRIM_THROTTLE 40.000000 +LIM_ROLL_CD 6000.000000 +LIM_PITCH_MAX 1600.000000 +LIM_PITCH_MIN -3000.000000 +ACRO_ROLL_RATE 90.000000 +ACRO_PITCH_RATE 90.000000 +ACRO_YAW_RATE 90.000000 +TRIM_ARSPD_CM 4400.000000 +SCALING_SPEED 44.000000 +TRIM_PITCH_CD 100.000000 +ARMING_RUDDER 0.000000 +RLL_RATE_P 0.406230 +RLL_RATE_I 0.406230 +RLL_RATE_D 0.014926 +RLL_RATE_FF 1.097314 +RLL_RATE_FLTT 3.183099 +RLL_RATE_FLTD 10.000000 +PTCH2SRV_TCONST 0.750000 +PTCH2SRV_RMAX_UP 75.000000 +PTCH2SRV_RMAX_DN 75.000000 +PTCH2SRV_RLL 0.350000 +PTCH_RATE_P 0.649316 +PTCH_RATE_I 2.388867 +PTCH_RATE_D 0.018863 +PTCH_RATE_FF 2.388867 +PTCH_RATE_FLTT 2.122066 +PTCH_RATE_FLTD 10.000000 +YAW_RATE_ENABLE 1.000000 +NAVL1_PERIOD 10.000000 +TECS_LAND_ARSPD 30.000000 +TECS_LAND_THR 0.000000 +TECS_LAND_SINK 1.000000 +SERVO1_MIN 1000.000000 +SERVO1_MAX 2000.000000 +SERVO2_MIN 1000.000000 +SERVO2_MAX 2000.000000 +SERVO3_MIN 1000.000000 +SERVO3_MAX 2000.000000 +SERVO4_MIN 1000.000000 +SERVO4_MAX 2000.000000 +ARSPD_TYPE 0.000000 diff --git a/Gazebo/docs/Pik-20B_Sailplane.md b/Gazebo/docs/Pik-20B_Sailplane.md new file mode 100644 index 00000000..7b56a73e --- /dev/null +++ b/Gazebo/docs/Pik-20B_Sailplane.md @@ -0,0 +1,31 @@ +# Pik-20B sailplane + +Model for a full size Pik-20B sailplane. + +![pik_20b_sailplane_v1](https://github.com/ArduPilot/SITL_Models/assets/24916364/342ec2a4-525e-4589-8814-279cda15df5d) + + +## 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 sailplane_runway.sdf +``` + +#### Run ArduPilot SITL + +```bash +$ sim_vehicle.py -v ArduPlane -f JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/pik_20b_sailplane.param --console --map +``` + diff --git a/Gazebo/docs/images/xf_fx67k170_il_1000000_drag.png b/Gazebo/docs/images/xf_fx67k170_il_1000000_drag.png new file mode 100644 index 00000000..7c783c1f Binary files /dev/null and b/Gazebo/docs/images/xf_fx67k170_il_1000000_drag.png differ diff --git a/Gazebo/docs/images/xf_fx67k170_il_1000000_lift.png b/Gazebo/docs/images/xf_fx67k170_il_1000000_lift.png new file mode 100644 index 00000000..367e544d Binary files /dev/null and b/Gazebo/docs/images/xf_fx67k170_il_1000000_lift.png differ diff --git a/Gazebo/models/pik_20b_sailplane/meshes/pik_20b_elevator.dae b/Gazebo/models/pik_20b_sailplane/meshes/pik_20b_elevator.dae new file mode 100644 index 00000000..5cd3d69b --- /dev/null +++ b/Gazebo/models/pik_20b_sailplane/meshes/pik_20b_elevator.dae @@ -0,0 +1,479 @@ + + + + + Blender User + Blender 2.93.6 commit date:2021-11-16, commit time:14:54, hash:c842a90e2fa1 + + 2023-06-10T10:05:11 + 2023-06-10T10:05:11 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + 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720 1413 717 1413 720 1414 719 1414 738 1414 738 1415 740 1415 720 1415 756 1416 738 1416 735 1416 742 1417 741 1417 739 1417 743 1418 744 1418 721 1418 745 1419 723 1419 744 1419 745 1420 743 1420 756 1420 723 1421 722 1421 744 1421 724 1422 701 1422 723 1422 724 1423 746 1423 701 1423 747 1424 750 1424 749 1424 747 1425 723 1425 745 1425 747 1426 724 1426 723 1426 746 1427 747 1427 748 1427 725 1428 702 1428 748 1428 748 1429 727 1429 725 1429 748 1430 749 1430 727 1430 748 1431 747 1431 749 1431 727 1432 703 1432 726 1432 727 1433 749 1433 703 1433 751 1434 728 1434 749 1434 753 1435 729 1435 752 1435 754 1436 706 1436 712 1436 754 1437 712 1437 713 1437 714 1438 715 1438 733 1438 716 1439 733 1439 734 1439 757 1440 707 1440 750 1440 757 1441 755 1441 707 1441 757 1442 715 1442 755 1442 757 1443 756 1443 735 1443 757 1444 750 1444 747 1444 757 1445 747 1445 745 1445 757 1446 735 1446 715 1446 757 1447 745 1447 756 1447 719 1448 735 1448 738 1448 719 1449 737 1449 735 1449 756 1450 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2290 167 2290 191 2308 364 2308 947 2308 172 2309 171 2309 754 2309 190 2310 773 2310 946 2310 349 2311 358 2311 941 2311 172 2312 755 2312 773 2312 170 2313 167 2313 750 2313 218 2314 801 2314 947 2314 218 2315 227 2315 810 2315 171 2316 170 2316 753 2316 363 2317 946 2317 941 2317 227 2318 349 2318 932 2318 191 2319 774 2319 750 2319

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1154 2042 1152 2042 1057 2043 1154 2043 926 2043 1152 2044 1154 2044 1057 2044 926 2045 1154 2045 928 2045 1153 2046 1155 2046 1058 2046 1058 2047 1155 2047 1059 2047 196 2048 1156 2048 1153 2048 1153 2049 1156 2049 1155 2049 224 2050 1156 2050 210 2050 1155 2051 1156 2051 1059 2051 210 2052 1156 2052 196 2052 930 2053 1157 2053 234 2053 234 2054 1157 2054 233 2054 233 2055 1157 2055 224 2055 1059 2056 1157 2056 930 2056 1156 2057 1157 2057 1059 2057 224 2058 1157 2058 1156 2058 1066 2059 1158 2059 730 2059 730 2060 1158 2060 1064 2060 1064 2061 1158 2061 768 2061 768 2062 1158 2062 945 2062 946 2063 1159 2063 947 2063 947 2064 1159 2064 1065 2064 1065 2065 1159 2065 1066 2065 959 2066 1160 2066 818 2066 960 2067 1160 2067 959 2067 1067 2068 1160 2068 960 2068 815 2069 1160 2069 1067 2069 817 2070 1160 2070 815 2070 818 2071 1160 2071 817 2071 85 2072 1161 2072 89 2072 89 2073 1161 2073 93 2073 1068 2074 1161 2074 85 2074 1068 2075 1162 2075 1161 2075 1161 2076 1162 2076 93 2076 1069 2077 1163 2077 1068 2077 1164 2078 1163 2078 1070 2078 1068 2079 1163 2079 1162 2079 1070 2080 1163 2080 1069 2080 1072 2081 1165 2081 1071 2081 1070 2082 1165 2082 1164 2082 1071 2083 1165 2083 1070 2083 1073 2084 1165 2084 1072 2084 1075 2085 1166 2085 1074 2085 1074 2086 1166 2086 1073 2086 1073 2087 1166 2087 1165 2087 1167 2088 1166 2088 1075 2088 1079 2089 1168 2089 1075 2089 1075 2090 1168 2090 1167 2090 1079 2091 1169 2091 1168 2091 1082 2092 1169 2092 1079 2092 1169 2093 1170 2093 1168 2093 1082 2094 1170 2094 1169 2094 1082 2095 1171 2095 1170 2095 1171 2096 1172 2096 130 2096 1081 2097 1172 2097 1082 2097 1082 2098 1172 2098 1171 2098 130 2099 1172 2099 1081 2099 1093 2100 1173 2100 1094 2100 1087 2101 1173 2101 1090 2101 1090 2102 1173 2102 1093 2102 1174 2103 1173 2103 1087 2103 133 2104 1175 2104 131 2104 1089 2105 1175 2105 133 2105 1098 2106 1175 2106 1095 2106 1099 2107 1175 2107 1098 2107 1100 2108 1175 2108 1099 2108 131 2109 1175 2109 142 2109 1095 2110 1175 2110 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2178 1200 2178 1135 2178 1047 2179 1200 2179 1201 2179 1201 2180 1200 2180 1202 2180 1136 2181 1203 2181 1137 2181 1137 2182 1203 2182 1134 2182 1204 2183 1203 2183 1136 2183 1134 2184 1203 2184 1199 2184 1034 2185 1205 2185 1136 2185 1138 2186 1205 2186 1034 2186 1136 2187 1205 2187 1204 2187 1205 2188 1206 2188 1204 2188 1138 2189 1206 2189 1205 2189 1207 2190 1208 2190 1140 2190 1139 2191 1208 2191 1138 2191 1140 2192 1208 2192 1139 2192 1138 2193 1208 2193 1206 2193 1140 2194 1209 2194 1207 2194 1141 2195 1209 2195 1140 2195 1142 2196 1209 2196 1141 2196 1150 2197 1210 2197 198 2197 1146 2198 1210 2198 1147 2198 1149 2199 1210 2199 1150 2199 1147 2200 1210 2200 1149 2200 1145 2201 1211 2201 1142 2201 194 2202 1211 2202 1145 2202 1142 2203 1211 2203 1209 2203 201 2204 1211 2204 194 2204 1066 2205 1212 2205 1158 2205 946 2206 1212 2206 1159 2206 1158 2207 1212 2207 945 2207 1159 2208 1212 2208 1066 2208 1163 2209 1213 2209 1162 2209 1164 2210 1213 2210 1163 2210 1214 2211 1213 2211 1164 2211 1165 2212 1215 2212 1164 2212 1164 2213 1215 2213 1214 2213 1165 2214 1216 2214 1215 2214 1215 2215 1216 2215 1214 2215 1214 2216 1216 2216 1217 2216 1166 2217 1218 2217 1165 2217 1167 2218 1218 2218 1166 2218 1165 2219 1218 2219 1216 2219 1219 2220 1218 2220 1167 2220 1170 2221 1220 2221 1168 2221 1171 2222 1220 2222 1170 2222 1168 2223 1220 2223 1167 2223 1167 2224 1220 2224 1219 2224 1174 2225 1221 2225 1173 2225 1222 2226 1221 2226 1174 2226 1217 2227 1223 2227 1222 2227 1221 2228 1223 2228 1173 2228 1222 2229 1223 2229 1221 2229 1097 2230 1224 2230 1225 2230 1094 2231 1224 2231 1097 2231 1173 2232 1224 2232 1094 2232 1223 2233 1224 2233 1173 2233 1225 2234 1224 2234 1226 2234 1180 2235 1227 2235 1178 2235 1178 2236 1227 2236 1181 2236 1228 2237 1227 2237 1180 2237 135 2238 1229 2238 1228 2238 1228 2239 1229 2239 1227 2239 1227 2240 1229 2240 1181 2240 1181 2241 1229 2241 146 2241 134 2242 1229 2242 135 2242 145 2243 1229 2243 134 2243 146 2244 1229 2244 145 2244 1230 2245 1231 2245 180 2245 180 2246 1231 2246 173 2246 173 2247 1231 2247 177 2247 179 2248 1231 2248 1198 2248 177 2249 1231 2249 179 2249 1232 2250 1233 2250 1196 2250 1194 2251 1233 2251 1192 2251 1196 2252 1233 2252 1195 2252 1195 2253 1233 2253 1194 2253 1231 2254 1234 2254 1198 2254 1202 2255 1234 2255 1230 2255 1230 2256 1234 2256 1231 2256 1198 2257 1234 2257 1200 2257 1200 2258 1234 2258 1202 2258 1196 2259 1235 2259 1232 2259 1199 2260 1235 2260 1196 2260 1232 2261 1236 2261 1237 2261 1199 2262 1236 2262 1235 2262 1235 2263 1236 2263 1232 2263 1238 2264 1239 2264 1204 2264 1199 2265 1239 2265 1236 2265 1204 2266 1239 2266 1203 2266 1203 2267 1239 2267 1199 2267 1146 2268 1240 2268 1210 2268 1144 2269 1240 2269 1146 2269 1241 2270 1240 2270 1242 2270 1242 2271 1240 2271 1144 2271 197 2272 1243 2272 1244 2272 1240 2273 1243 2273 1210 2273 1208 2274 1245 2274 1206 2274 1246 2275 1245 2275 1207 2275 1207 2276 1245 2276 1208 2276 197 2277 1247 2277 1243 2277 1210 2278 1247 2278 198 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2413 1242 2414 1289 2414 1284 2414 1144 2415 1289 2415 1242 2415 104 2416 1290 2416 111 2416 111 2417 1290 2417 1285 2417 1278 2418 1290 2418 1272 2418 1285 2419 1290 2419 1286 2419 1286 2420 1290 2420 1278 2420 1272 2421 1290 2421 104 2421 1097 2422 1291 2422 995 2422 1288 2423 1291 2423 1097 2423 997 2424 1292 2424 999 2424 995 2425 1292 2425 997 2425 1291 2426 1292 2426 995 2426 1288 2427 1292 2427 1291 2427 1292 2428 1293 2428 999 2428 1288 2429 1293 2429 1292 2429 999 2430 1293 2430 1002 2430 1002 2431 1293 2431 1003 2431 1180 2432 1293 2432 1280 2432 1003 2433 1293 2433 1179 2433 1179 2434 1293 2434 1180 2434 1280 2435 1293 2435 1288 2435 1047 2436 1294 2436 1049 2436 1201 2437 1294 2437 1047 2437 1202 2438 1294 2438 1201 2438 1049 2439 1294 2439 1051 2439 1283 2440 1294 2440 1202 2440 1289 2441 1294 2441 1283 2441 1289 2442 1295 2442 1294 2442 1051 2443 1295 2443 1052 2443 1052 2444 1295 2444 1053 2444 1294 2445 1295 2445 1051 2445 1289 2446 1296 2446 1295 2446 1295 2447 1296 2447 1053 2447 1053 2448 1296 2448 1144 2448 1144 2449 1296 2449 1289 2449

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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/Gazebo/models/pik_20b_sailplane/meshes/pik_20b_tail_wheel_collision.stl b/Gazebo/models/pik_20b_sailplane/meshes/pik_20b_tail_wheel_collision.stl new file mode 100644 index 00000000..a6ed9ac7 Binary files /dev/null and b/Gazebo/models/pik_20b_sailplane/meshes/pik_20b_tail_wheel_collision.stl differ diff --git a/Gazebo/models/pik_20b_sailplane/model.config b/Gazebo/models/pik_20b_sailplane/model.config new file mode 100644 index 00000000..d78cbd6d --- /dev/null +++ b/Gazebo/models/pik_20b_sailplane/model.config @@ -0,0 +1,24 @@ + + + Pik-20B Sailplane + 1.0 + model.sdf + + + Aki Suokas + + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + A Pik-20B sailplane. + + Original CAD model by Aki Suokas, retrieved from GradCAD 09 June 2023. + https://grabcad.com/aki.suokas-3 + https://grabcad.com/library/pik-20b-sailplane-1 + + + diff --git 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