You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
A Bridge between Gzsim and Px4 in HITL mode via Mavlink
Mavlink subscribed messages (from PX4)
Type
Description
HIL_ACTUATOR_CONTROLS
Actuator control outputs from PX4
Mavlink published messages (to PX4)
Type
Description
HIL_SENSOR
The IMU readings in SI units in NED body frame, Magnetic field, absolute and differential pressure
HIL_STATE_QUATERNION
Used mainly to send gz model pose info
HIL_GPS
The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the system, but rather a RAW sensor value. Send now mainly to give home GPS coordinate to PX4
Gz subscribed topics (from Gzsim)
Topic name
Type
Description
/link/base_link/sensor/imu_sensor/imu
gz::msgs::IMU
IMU sensor data
/pose/info
gz::msgs::Pose_V
Position and orientation vector of a model
Gzsim plugins affected
Plugin name
Description
gz::sim::systems::MulticopterMotorModel
This system applies a thrust force to models with spinning propellers