Add HITL support for Fixed-wing, VTOL and Rover #9
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haitomatic
commented
Aug 28, 2024
•
haitomatic
commented
- Add HITL support for FW (tested with Skywalker_x8 model)
- Add HITL support for VTOL (tested with standard_vtol and striver_mini models)
- Add HITL support for Rover (tested with scout_mini model)
- Add support for Actuator Test
jnippula
reviewed
Sep 5, 2024
src/gazebo_mavlink_interface.cpp
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| if (armed) { | ||
| input_reference_[i] = actuator_controls[input_index_[i]] * input_scaling_(i); | ||
| if (i == motor_input_reference_.size() - 1) { | ||
| // Set pusher motor velocity scaling if airframe is either fw or vtol. This assumes the pusher motor is the last motor! |
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Does this mean that there can be now only one pusher rotor in the fixed wing drone?
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scaling values could be read from the sdf elements, so no need to do any assumptions, see comment below
jnippula
reviewed
Sep 5, 2024
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