FEATURE: Added Gazebo Iris Model with gimbal

Thanks to khanasif786 Asif Khan

Author: amilcarlucas

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/00_default.param

@@ -0,0 +1,7 @@
+INS_LOG_BAT_MASK,3  # the Matek H743 fligth controller only has two IMUs
+INS_TCAL1_ENABLE,2  # Activates the temperature calibration for IMU 1 at the next start
+INS_TCAL1_TMAX,60  # our H7 processor acts as a heater and heats up the board to almost 60 deg
+INS_TCAL2_ENABLE,2  # Activates the temperature calibration for IMU 2 at the next start
+INS_TCAL2_TMAX,60  # our H7 processor acts as a heater and heats up the board to almost 60 deg
+LOG_BITMASK,524416  # Only for IMU and Raw-IMU
+LOG_DISARMED,1  # Gather data for the offline IMU temperature calibration while the FC is disarmed

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/02_imu_temperature_calibration_setup.param

@@ -0,0 +1,42 @@
+INS_TCAL1_ACC1_X,115.946591
+INS_TCAL1_ACC1_Y,498.256973
+INS_TCAL1_ACC1_Z,-381.446152
+INS_TCAL1_ACC2_X,-22.931569
+INS_TCAL1_ACC2_Y,13.578689
+INS_TCAL1_ACC2_Z,19.36129
+INS_TCAL1_ACC3_X,-0.601406
+INS_TCAL1_ACC3_Y,0.213799
+INS_TCAL1_ACC3_Z,0.011622
+INS_TCAL1_ENABLE,0
+INS_TCAL1_GYR1_X,-32.634221
+INS_TCAL1_GYR1_Y,79.655005
+INS_TCAL1_GYR1_Z,-151.124203
+INS_TCAL1_GYR2_X,-0.611429
+INS_TCAL1_GYR2_Y,-2.040989
+INS_TCAL1_GYR2_Z,1.23833
+INS_TCAL1_GYR3_X,-0.009728
+INS_TCAL1_GYR3_Y,0.019492
+INS_TCAL1_GYR3_Z,0.00141
+INS_TCAL1_TMAX,56
+INS_TCAL1_TMIN,-14.6
+INS_TCAL2_ACC1_X,-1088.4156
+INS_TCAL2_ACC1_Y,806.840522
+INS_TCAL2_ACC1_Z,327.521202
+INS_TCAL2_ACC2_X,-13.630366
+INS_TCAL2_ACC2_Y,6.347961
+INS_TCAL2_ACC2_Z,9.967253
+INS_TCAL2_ACC3_X,-0.376738
+INS_TCAL2_ACC3_Y,0.002642
+INS_TCAL2_ACC3_Z,-0.065861
+INS_TCAL2_ENABLE,0
+INS_TCAL2_GYR1_X,-44.455146
+INS_TCAL2_GYR1_Y,-8.833006
+INS_TCAL2_GYR1_Z,88.004539
+INS_TCAL2_GYR2_X,1.435061
+INS_TCAL2_GYR2_Y,-0.204453
+INS_TCAL2_GYR2_Z,-2.086232
+INS_TCAL2_GYR3_X,-0.048141
+INS_TCAL2_GYR3_Y,-0.002373
+INS_TCAL2_GYR3_Z,-0.028351
+INS_TCAL2_TMAX,56.5
+INS_TCAL2_TMIN,-13.3

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/03_imu_temperature_calibration_results.param

@@ -0,0 +1,2 @@
+AHRS_ORIENTATION,0  # Point forward in the direction of travel
+LOG_DISARMED,0  # Log disarmed was only required for offline IMU temperature calibration

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/04_board_orientation.param

@@ -0,0 +1,9 @@
+ARMING_RUDDER,2  # We find it safer to use only a switch to arm instead of through rudder inputs
+BRD_ALT_CONFIG,0
+RC_OPTIONS,32  # Enables Crossfire Telemetry
+RC_PROTOCOLS,1  # Selected in the component editor
+RC6_OPTION,212
+RC7_OPTION,213
+RC8_OPTION,214
+RC9_OPTION,0
+RSSI_TYPE,0

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/05_remote_controller.param

@@ -0,0 +1,3 @@
+BRD_SER1_RTSCTS,1  # we have RTS/CTS pins connected
+SERIAL1_BAUD,57  # The MAVLink over ESP32 telemetry
+SERIAL1_PROTOCOL,2  # Use MAVLink 2 for telemetry

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/06_telemetry.param

@@ -0,0 +1,34 @@
+ATC_RAT_PIT_SMAX,0  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+ATC_RAT_RLL_SMAX,0  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+ATC_RAT_YAW_SMAX,0  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+MOT_HOVER_LEARN,2  # So that it can tune the throttle controller on 20_throttle_controller.param file
+MOT_PWM_MAX,2000
+MOT_PWM_MIN,1000
+MOT_PWM_TYPE,0  # Specified in component editor window
+MOT_SPOOL_TIME,0.5  # left at default because copter is small
+NTF_BUZZ_TYPES,5  # the 4-in-1 ESC uses this
+NTF_LED_TYPES,123079  # Built-in LED, NCP5623 External (Holybro F9P), Neopixel (Matek H743 slim v3), and DShot (4-in-1 ESC)
+PSC_ACCZ_SMAX,0  # limit the slew rate to prevent possible ESC desync - https://ardupilot.org/copter/docs/common-servo-limit-cycle-detection.html
+SERIAL5_BAUD,57  # bi-directional DShot telemetry data rate from T-Motor F45 4in1 ESC V2
+SERIAL5_PROTOCOL,-1  # bi-directional DShot telemetry pin is connected to SERIAL5
+SERVO_BLH_AUTO,1  # Enables BLHeli pass-thru
+SERVO_BLH_BDMASK,15  # All four of our ESC support bi-directional DShot
+SERVO_BLH_POLES,3  # Specified in component editor window
+SERVO_BLH_TRATE,5  # Set to a low value because the RPM telemetry uses bi-directional DShot telemetry instead of this UART telemetry
+SERVO_DSHOT_ESC,0  # BLHeli32
+SERVO_DSHOT_RATE,0  # Sends DShot control signals to the ESC twice per control loop
+SERVO1_MAX,1900  # Use the full available 1000-2000 DShot range
+SERVO1_MIN,1100  # Use the full available 1000-2000 DShot range
+SERVO1_TRIM,1500  # Use the full available 1000-2000 DShot range
+SERVO13_FUNCTION,0  # For matek H743Slim v3 board
+SERVO2_MAX,1900  # Use the full available 1000-2000 DShot range
+SERVO2_MIN,1100  # Use the full available 1000-2000 DShot range
+SERVO2_TRIM,1500  # Use the full available 1000-2000 DShot range
+SERVO3_MAX,1900  # Use the full available 1000-2000 DShot range
+SERVO3_MIN,1100  # Use the full available 1000-2000 DShot range
+SERVO3_TRIM,1500  # Use the full available 1000-2000 DShot range
+SERVO4_MAX,1900  # Use the full available 1000-2000 DShot range
+SERVO4_MIN,1100  # Use the full available 1000-2000 DShot range
+SERVO4_TRIM,1500  # Use the full available 1000-2000 DShot range
+TKOFF_RPM_MIN,0  # Our motors should idle at around 1400 RPM, see https://ardupilot.org/copter/docs/tkoff-rpm-min.html
+TKOFF_SLEW_TIME,2  # left at default because copter is small

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/07_esc.param

@@ -0,0 +1,12 @@
+BATT_AMP_PERVLT,17  # new calibrated value for Mamba F45_128k 4in1 ESC
+BATT_ARM_VOLT,15.7  # Don’t allow arming below this voltage
+BATT_CAPACITY,1800  # Total battery capacity specified in the component editor
+BATT_CRT_MAH,0  # When only 450mAh out of the total 1800mAh remain, trigger critical failsafe
+BATT_CRT_VOLT,14.2  # (Critical voltage + 0.0) x no. of cells
+BATT_FS_CRT_ACT,1  # Land ASAP
+BATT_FS_LOW_ACT,2  # Return and land at home or rally point
+BATT_FS_VOLTSRC,0  # Let the firmware handle the nasty business of variable and battery dependent internal resistance
+BATT_LOW_MAH,0  # When only 450mAh out of the total 1800mAh remain, trigger low failsafe
+BATT_LOW_VOLT,14.4  # (Low voltage + 0.0) x no. of cells
+BATT_MONITOR,4  # Selected in component editor window
+BATT_VOLT_MULT,10.1  # Use a power source with a voltage close to BATT_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/08_batt1.param

@@ -0,0 +1,14 @@
+BATT2_AMP_PERVLT,17.73  # calibrated using batt charger
+BATT2_ARM_VOLT,15  # In our build this is a redundant monitor for batt1 so == BATT_ARM_VOLT
+BATT2_CAPACITY,1800  # In our build this is a redundant monitor for batt1 so == BATT_CAPACITY
+BATT2_CRT_MAH,450  # In our build this is a redundant monitor for batt1 so == BATT_CRT_MAH
+BATT2_CRT_VOLT,14  # In our build this is a redundant monitor for batt1 so == BATT_CRT_VOLT
+BATT2_CURR_PIN,7
+BATT2_FS_CRT_ACT,1  # flying indoors, just land ASAP, no need to hit the ceiling while doing RTL
+BATT2_FS_LOW_ACT,1  # flying indoors, just land ASAP, no need to hit the ceiling while doing RTL
+BATT2_FS_VOLTSRC,1  # In our build this is a redundant monitor for batt1 so == BATT_FS_VOLTSRC
+BATT2_LOW_MAH,600  # In our build this is a redundant monitor for batt1 so == BATT_LOW_MAH
+BATT2_LOW_VOLT,14.4  # In our build this is a redundant monitor for batt1 so == BATT_LOW_VOLT
+BATT2_MONITOR,0
+BATT2_VOLT_MULT,228.342  # Use a power source with a voltage close to BATT2_LOW_VOLT measure with a calibrated voltimeter and adapt this parameter so that the telemetry voltage reading matches it
+BATT2_VOLT_PIN,18

vehicle_templates/ArduCopter/GazeboIrisWithTargetFollow/09_batt2.param

@@ -0,0 +1,8 @@
+BRD_SAFETY_DEFLT,0  # Matek H743 Slim has no safety switch
+GPS_GNSS_MODE,7  # limit the constalations to ensure an update rate higher than 5Hz
+GPS_POS1_X,0.056  # HX-CH7604A GNSS antenna pahse center location relative to CG
+GPS_POS1_Y,0  # HX-CH7604A GNSS antenna pahse center location relative to CG
+GPS_POS1_Z,-0.07  # HX-CH7604A GNSS antenna pahse center location relative to CG
+GPS_TYPE,2  # Defined in component editor
+SERIAL3_PROTOCOL,5  # GNSS receiver is connected to serial3
+WPNAV_RADIUS,200  # we have a good GNSS receiver so we can afford to fly precisely