From 02abb760a35360cb2fecbe26acb21e62c8aa4e24 Mon Sep 17 00:00:00 2001 From: David Jablonski Date: Wed, 10 Mar 2021 19:16:17 +0100 Subject: [PATCH] SITL: add iris with fog-simulating lidar --- .../init.d-posix/airframes/10018_iris_foggy_lidar | 14 ++++++++++++++ .../init.d-posix/airframes/CMakeLists.txt | 1 + Tools/sitl_gazebo | 2 +- platforms/posix/cmake/sitl_target.cmake | 1 + 4 files changed, 17 insertions(+), 1 deletion(-) create mode 100644 ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar b/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar new file mode 100644 index 0000000000..28d7c43127 --- /dev/null +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10018_iris_foggy_lidar @@ -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 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt index 08c352d342..6cef7670ce 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt @@ -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 diff --git a/Tools/sitl_gazebo b/Tools/sitl_gazebo index c7524aa977..6b6f4749a7 160000 --- a/Tools/sitl_gazebo +++ b/Tools/sitl_gazebo @@ -1 +1 @@ -Subproject commit c7524aa977539d8cc972d9336355bc82e2f2cfa5 +Subproject commit 6b6f4749a74215b9a4fb81cfaa99a3950f13464d diff --git a/platforms/posix/cmake/sitl_target.cmake b/platforms/posix/cmake/sitl_target.cmake index 72f8deb7f0..4c48de0666 100644 --- a/platforms/posix/cmake/sitl_target.cmake +++ b/platforms/posix/cmake/sitl_target.cmake @@ -107,6 +107,7 @@ set(models iris iris_ctrlalloc iris_dual_gps + iris_foggy_lidar iris_irlock iris_obs_avoid iris_opt_flow