From 559c5b7cbf90784eab94488b51654662a2ea0d1b Mon Sep 17 00:00:00 2001 From: PonomarevDA Date: Tue, 5 Dec 2023 22:35:57 +0300 Subject: [PATCH] update vtol dynamics --- scripts/run_sim.sh | 48 ++++++++++++++++++--------------- uav_dynamics/inno_vtol_dynamics | 2 +- 2 files changed, 27 insertions(+), 23 deletions(-) diff --git a/scripts/run_sim.sh b/scripts/run_sim.sh index 4240799..e6de7da 100755 --- a/scripts/run_sim.sh +++ b/scripts/run_sim.sh @@ -89,8 +89,8 @@ px4_v1_14_0_beta_dronecan_vtol() { $SCRIPT_DIR/airframe_printer.sh 13000 roslaunch innopolis_vtol_dynamics hitl.launch \ run_dronecan_communicator:=true \ - vehicle:=innopolis_vtol \ - vehicle_params:=vtol_params \ + logging_type:=standard_vtol \ + vehicle_params:=vtol_7kg \ mixer:=px4_v1_14_0_vtol_13000_mixer \ dynamics:=vtol_dynamics } @@ -101,8 +101,8 @@ px4_v1_12_1_dronecan_vtol() { $SCRIPT_DIR/airframe_printer.sh 13000 roslaunch innopolis_vtol_dynamics hitl.launch \ run_dronecan_communicator:=true \ - vehicle:=innopolis_vtol \ - vehicle_params:=vtol_params \ + logging_type:=standard_vtol \ + vehicle_params:=vtol_7kg \ mixer:=vtol_13070_mixer \ dynamics:=vtol_dynamics } @@ -113,8 +113,8 @@ dronecan_flight_goggles() { $SCRIPT_DIR/airframe_printer.sh 4001 roslaunch innopolis_vtol_dynamics hitl.launch \ run_dronecan_communicator:=true \ - vehicle:=iris \ - vehicle_params:=quadrotor_params \ + logging_type:=quadcopter \ + vehicle_params:=quadrotor \ mixer:=direct_mixer \ dynamics:=quadcopter } @@ -125,8 +125,8 @@ cyphal_quadrotor() { $SCRIPT_DIR/airframe_printer.sh 4001 roslaunch innopolis_vtol_dynamics hitl.launch \ run_cyphal_communicator:=true \ - vehicle:=iris \ - vehicle_params:=quadrotor_params \ + logging_type:=quadcopter \ + vehicle_params:=quadrotor \ mixer:=direct_mixer \ dynamics:=quadcopter } @@ -137,8 +137,8 @@ cyphal_octorotor() { $SCRIPT_DIR/airframe_printer.sh 12001 roslaunch innopolis_vtol_dynamics hitl.launch \ run_cyphal_communicator:=true \ - vehicle:=iris \ - vehicle_params:=octorotor_params \ + logging_type:=quadcopter \ + vehicle_params:=octorotor \ mixer:=direct_mixer \ dynamics:=octorotor } @@ -149,8 +149,8 @@ cyphal_standard_vtol() { $SCRIPT_DIR/airframe_printer.sh 13000 roslaunch innopolis_vtol_dynamics hitl.launch \ run_cyphal_communicator:=true \ - vehicle:=innopolis_vtol \ - vehicle_params:=vtol_params \ + logging_type:=standard_vtol \ + vehicle_params:=vtol_7kg \ mixer:=px4_v1_14_0_vtol_13000_mixer \ dynamics:=vtol_dynamics } @@ -162,8 +162,8 @@ cyphal_and_dronecan_inno_vtol() { roslaunch innopolis_vtol_dynamics hitl.launch \ run_cyphal_communicator:=true \ run_dronecan_communicator:=true \ - vehicle:=iris \ - vehicle_params:=quadrotor_params_ardupilot \ + logging_type:=quadcopter \ + vehicle_params:=quadrotor_ardupilot \ mixer:=direct_mixer \ dynamics:=quadcopter } @@ -171,8 +171,9 @@ cyphal_and_dronecan_inno_vtol() { sitl_inno_vtol() { setup_ros roslaunch innopolis_vtol_dynamics sitl.launch \ - vehicle:=innopolis_vtol \ - vehicle_params:=vtol_params \ + logging_type:=standard_vtol \ + sitl_vehicle:=innopolis_vtol \ + vehicle_params:=vtol_7kg \ mixer:=vtol_13070_mixer \ dynamics:=vtol_dynamics \ run_sitl_flight_stack:="false" @@ -181,8 +182,9 @@ sitl_inno_vtol() { sitl_flight_goggles() { setup_ros roslaunch innopolis_vtol_dynamics sitl.launch \ - vehicle:=iris \ - vehicle_params:=quadrotor_params \ + logging_type:=quadcopter \ + sitl_vehicle:=iris \ + vehicle_params:=quadrotor \ mixer:=direct_mixer \ dynamics:=quadcopter \ run_sitl_flight_stack:="false" @@ -192,8 +194,9 @@ sitl_inno_vtol_with_flight_stack() { setup_ros setup_sitl_px4_flight_stack roslaunch innopolis_vtol_dynamics sitl.launch \ - vehicle:=innopolis_vtol \ - vehicle_params:=quadrotor_params \ + logging_type:=standard_vtol \ + sitl_vehicle:=innopolis_vtol \ + vehicle_params:=quadrotor \ mixer:=vtol_13070_mixer \ dynamics:=vtol_dynamics \ run_sitl_flight_stack:="true" @@ -203,8 +206,9 @@ sitl_flight_goggles_with_flight_stack() { setup_ros setup_sitl_px4_flight_stack roslaunch innopolis_vtol_dynamics sitl.launch \ - vehicle:=iris \ - vehicle_params:=quadrotor_params \ + logging_type:=quadcopter \ + sitl_vehicle:=iris \ + vehicle_params:=quadrotor \ mixer:=direct_mixer \ dynamics:=quadcopter \ run_sitl_flight_stack:="true" diff --git a/uav_dynamics/inno_vtol_dynamics b/uav_dynamics/inno_vtol_dynamics index 76e5c5e..6185f34 160000 --- a/uav_dynamics/inno_vtol_dynamics +++ b/uav_dynamics/inno_vtol_dynamics @@ -1 +1 @@ -Subproject commit 76e5c5e1ed1b5b186d94a37d7872a425a0000f7b +Subproject commit 6185f347dd7730a76687b9564d317386947666fc