diff --git a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml index be40626..abd1ff3 100644 --- a/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml +++ b/src/AutoPilotPlugins/PX4/AirframeFactMetaData.xml @@ -410,6 +410,11 @@ Lorenz Meier <lorenz@px4.io> Simulation + + Copter + Romain Chiappinelli <romain.chiap@gmail.com> + Simulation + diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml index 0756514..9f69274 100644 --- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml +++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml @@ -8796,6 +8796,159 @@ is less than 50% of this value + + + Vehicle inertia about X axis + The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate. + 0.0 + kg*m*m + 3 + 0.005 + + + Vehicle cross term inertia xy + The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass. + kg*m*m + 3 + 0.005 + + + Vehicle cross term inertia xz + The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass. + kg*m*m + 3 + 0.005 + + + Vehicle inertia about Y axis + The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate. + 0.0 + kg*m*m + 3 + 0.005 + + + Vehicle cross term inertia yz + The intertia is a 3 by 3 symmetric matrix. This value can be set to 0 for a quad symmetric about its center of mass. + kg*m*m + 3 + 0.005 + + + Vehicle inertia about Z axis + The intertia is a 3 by 3 symmetric matrix. It represents the difficulty of the vehicle to modify its angular rate. + 0.0 + kg*m*m + 3 + 0.005 + + + First order drag coefficient + Physical coefficient representing the friction with air particules. The greater this value, the slower the quad will move. Drag force function of velocity: D=-KDV*V. The maximum freefall velocity can be computed as V=10*MASS/KDV [m/s] + 0.0 + N/(m/s) + 2 + 0.05 + + + First order angular damper coefficient + Physical coefficient representing the friction with air particules during rotations. The greater this value, the slower the quad will rotate. Aerodynamic moment function of body rate: Ma=-KDW*W_B. This value can be set to 0 if unknown. + 0.0 + Nm/(rad/s) + 3 + 0.005 + + + Initial AMSL ground altitude + This value represents the Above Mean Sea Level (AMSL) altitude where the simulation begins. If using FlightGear as a visual animation, this value can be tweaked such that the vehicle lies on the ground at takeoff. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth. + -420.0 + 8848.0 + m + 2 + 0.01 + + + Initial geodetic latitude + This value represents the North-South location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth. + -850000000 + 850000000 + 1e-7 deg + + + Initial geodetic longitude + This value represents the East-West location on Earth where the simulation begins. A value of 45 deg should be written 450000000. LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth. + -1800000000 + 1800000000 + 1e-7 deg + + + North magnetic field at the initial location + This value represents the North magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth. + -1.0 + 1.0 + Gauss + 2 + 0.001 + + + East magnetic field at the initial location + This value represents the East magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth. + -1.0 + 1.0 + Gauss + 2 + 0.001 + + + Down magnetic field at the initial location + This value represents the Down magnetic field at the initial location. A magnetic field calculator can be found on the NOAA website Note, the values need to be converted from nano Tesla to Gauss LAT0, LON0, H0, MU_X, MU_Y, and MU_Z should ideally be consistent among each others to represent a physical ground location on Earth. + -1.0 + 1.0 + Gauss + 2 + 0.001 + + + Pitch arm length + This is the arm length generating the pitching moment This value can be measured with a ruler. This corresponds to half the distance between the front and rear motors. + 0.0 + m + 2 + 0.05 + + + Roll arm length + This is the arm length generating the rolling moment This value can be measured with a ruler. This corresponds to half the distance between the left and right motors. + 0.0 + m + 2 + 0.05 + + + Vehicle mass + This value can be measured by weighting the quad on a scale. + 0.0 + kg + 2 + 0.1 + + + Max propeller torque + This is the maximum torque delivered by one propeller when the motor is running at full speed. This value is usually about few percent of the maximum thrust force. + 0.0 + Nm + 3 + 0.05 + + + Max propeller thrust force + This is the maximum force delivered by one propeller when the motor is running at full speed. This value is usually about 5 times the mass of the quadrotor. + 0.0 + N + 2 + 0.5 + + ESC UART baud rate @@ -8939,10 +9092,14 @@ is less than 50% of this value true - Enable HITL mode on next boot - While enabled the system will boot in HITL mode and not enable all sensors and checks. When disabled the same vehicle can be normally flown outdoors. - + Enable HITL/SIH mode on next boot + While enabled the system will boot in Hardware-In-The-Loop (HITL) or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. When disabled the same vehicle can be flown normally. true + + HITL and SIH disabled + HITL enabled + SIH enabled + Set multicopter estimator group