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Gazebo: Add model for OmniCopter #55

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Gazebo: Add model for OmniCopter #55

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Commits on Jan 10, 2023

  1. Gazebo: Add model for Omnicopter 

    1. Add initial version of Peter Hall's OmniCopter

- Initial version of Peter Hall's OmniCopter
- Add base model config and sdf
- Add mesh files for base, tail booms and spinners
- First draft of joint locations and orientations
- Add runway model to demo

2. Add props and system plugins
- Add prop visuals
- Add JointStatePublisher system plugin
- Add ApplyJointForce system plugins
- Add LiftDrag system plugins (2x for each prop)
- Add ArduPilotGazebo system plugin
- Add control elements for each prop (all linked to channel 2 for initial testing)
- Max RPM is 13185 (1381 rad/s)
- Set prop rotation reversible

3. Update inertials and PIDs
- Use settings from Iris quadcopter as an initial guess

4. Add force torque sensors to props and add params and scripts
- Set up servo params correctly for AP plugin
- Add parameters and scripts from the main AP repo and Peter Hall's RF model
- Add force torque sensors and system plugin
- Increase prop thrust by moving CP outwards and increasing prop area
- Increase area of base collision to provide 'training wheels' while attempting a tune

5. Change frame for force sensor, update prop lift and params
- Set params allow drone to circle, no stable attitude control

6. Add parameters and mixer for zero prop torque test case

7. Contract body collision and place motors precisely

- Contract body collision to 0.25 x 0.25 x 0.25 cube
- Use calculated values for motor positions and directions rather than estimates from Blender

8. Correct motor inertials

- Adjust motor inertials so they are centred on the joint positions (and are symmetrically arranged)

9. Add thumbnails

10. Rename config and param files

- Add suffix including the prop torque parameter value

11. Move thumbnails

12. Add model for Omnicopter

- Update names of parameter files.
- Add user document.

Signed-off-by: Rhys Mainwaring <[email protected]>
    @srmainwaring
    srmainwaring committed Jan 10, 2023
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  2. Gazebo: Add model for Omnicopter 

    - Migrate ignition to gz.

Signed-off-by: Rhys Mainwaring <[email protected]>
    @srmainwaring
    srmainwaring committed Jan 10, 2023
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    838274d View commit details
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