SITL: add iris with fog-simulating lidar

4 years ago · 02abb760a3
4 changed files with 17 additions and 1 deletions
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar
@ -0,0 +1,14 @@
				@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (foggy_lidar)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_RNG_AID 1
+	param set EKF2_RNG_A_HMAX 10
+fi
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@ -34,6 +34,7 @@
				@@ -34,6 +34,7 @@
 px4_add_romfs_files(
 	10016_iris
 	10017_iris_ctrlalloc
+	10018_iris_foggy_lidar
 	10020_if750a
 	10030_px4vision
 	1010_iris_opt_flow
--- a/Tools/sitl_gazebo
+++ b/Tools/sitl_gazebo
@ -1 +1 @@
				@@ -1 +1 @@
-Subproject commit c7524aa977539d8cc972d9336355bc82e2f2cfa5
+Subproject commit 6b6f4749a74215b9a4fb81cfaa99a3950f13464d
--- a/platforms/posix/cmake/sitl_target.cmake
+++ b/platforms/posix/cmake/sitl_target.cmake
@ -107,6 +107,7 @@ set(models
				@@ -107,6 +107,7 @@ set(models
 	iris
 	iris_ctrlalloc
 	iris_dual_gps
+	iris_foggy_lidar
 	iris_irlock
 	iris_obs_avoid
 	iris_opt_flow