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Set coherent limits with PX4 servo settings
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@Perrrewi
Perrrewi committed Nov 29, 2024
1 parent bb93d36 commit 75fcebd
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Showing 4 changed files with 36 additions and 47 deletions.
30 changes: 12 additions & 18 deletions models/advanced_plane/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -360,9 +360,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -389,9 +388,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -418,9 +416,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -447,9 +444,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -476,9 +472,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -505,9 +500,8 @@
<axis>
<xyz>0 0 1</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
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25 changes: 12 additions & 13 deletions models/rc_cessna/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -567,8 +567,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -587,8 +587,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -607,8 +607,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -627,8 +627,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -647,9 +647,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -668,8 +667,8 @@
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
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13 changes: 6 additions & 7 deletions models/standard_vtol/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -598,8 +598,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -618,8 +618,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -638,9 +638,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand Down
15 changes: 6 additions & 9 deletions models/tiltrotor/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -674,9 +674,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -695,9 +694,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand All @@ -716,9 +714,8 @@
<axis>
<xyz>0 1 0</xyz>
<limit>
<!-- -30/+30 deg. -->
<lower>-0.53</lower>
<upper>0.53</upper>
<lower>-0.78</lower>
<upper>0.78</upper>
</limit>
<dynamics>
<damping>1.000</damping>
Expand Down

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