diff --git a/Gazebo/config/mini_talon_vtail.param b/Gazebo/config/mini_talon_vtail.param new file mode 100644 index 00000000..5b6ece3f --- /dev/null +++ b/Gazebo/config/mini_talon_vtail.param @@ -0,0 +1,28 @@ +ARMING_RUDDER 0.000000 +RLL2SRV_RMAX 75.000000 +RLL_RATE_P 0.250811 +RLL_RATE_I 0.250811 +RLL_RATE_D 0.007486 +RLL_RATE_FF 0.339297 +RLL_RATE_FLTT 3.183099 +RLL_RATE_FLTD 10.000000 +PTCH2SRV_TCONST 0.750000 +PTCH2SRV_RMAX_UP 75.000000 +PTCH2SRV_RMAX_DN 75.000000 +PTCH_RATE_P 1.329862 +PTCH_RATE_I 1.022127 +PTCH_RATE_D 0.021373 +PTCH_RATE_FF 1.022127 +PTCH_RATE_FLTT 2.122066 +PTCH_RATE_FLTD 10.000000 +SERVO1_MIN 1000.000000 +SERVO1_MAX 2000.000000 +SERVO2_MIN 1000.000000 +SERVO2_MAX 2000.000000 +SERVO2_FUNCTION 79.000000 +SERVO3_MIN 1000.000000 +SERVO3_MAX 2000.000000 +SERVO4_MIN 1000.000000 +SERVO4_MAX 2000.000000 +SERVO4_FUNCTION 80.000000 +ARSPD_TYPE 0.000000 \ No newline at end of file diff --git a/Gazebo/docs/X-UAV_Mini_Talon.md b/Gazebo/docs/X-UAV_Mini_Talon.md new file mode 100644 index 00000000..e2f2a6e6 --- /dev/null +++ b/Gazebo/docs/X-UAV_Mini_Talon.md @@ -0,0 +1,56 @@ +# X-UAV Mini Talon V-Tail + +Model for the X-UAV Mini Talon V-Tail plane for use with ArduPilot. + +## Usage + +Gazebo and the plugins should be installed as per the [ArduPilot Gazebo Plugin](https://github.com/ArduPilot/ardupilot_gazebo) instructions. + +Update the `GZ_SIM_RESOURCE_PATH` to include these models: + +```bash +export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:\ +$HOME/SITL_Models/Gazebo/models:\ +$HOME/SITL_Models/Gazebo/worlds +``` + +#### Run Gazebo + +```bash +gz sim -v4 -r vtail_runway.sdf +``` + +#### Run ArduPilot SITL + +```bash +sim_vehicle.py -v ArduPlane -f JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/mini_talon_vtail.param --console --map +``` + +## Specifications + +- wingspan: 1300 mm +- length: 830 mm +- wing area: 30 dm^2 +- flying weight: 1.0 - 2.0 kg + +- 3s 11.1V + - 10x6 prop +- 4s 14.8V + - 9x5 prop + - 3536 930kV motor + - 40A ESC + +## General + +- Mark Qvale's [X-UAV Mini Talon Build Compilation](http://www.itsqv.com/QVM/index.php?title=X-UAV_Mini_Talon_Build_Compilation#Introduction). + +## Credits + +- Original Mini Talon X-UAV CAD model by Alessandro Bacchini, +retrieved from GrabCAD 04 July 2023. + - https://grabcad.com/alessandro.bacchini-2 + - https://grabcad.com/library/mini-talon-x-uav-1 + +- PropDrive 3536 motor model by Seth Schaffer, retrieved from GrabCAD 04 July 2023. + - https://grabcad.com/seth.schaffer-1 + - https://grabcad.com/library/configurable-propdrive-v2-brushless-motor-with-mount-plate-solidworks-2019-1 diff --git a/Gazebo/models/mini_talon_vtail/meshes/iris_prop_cw.dae b/Gazebo/models/mini_talon_vtail/meshes/iris_prop_cw.dae new file mode 100755 index 00000000..f939111f --- /dev/null +++ b/Gazebo/models/mini_talon_vtail/meshes/iris_prop_cw.dae @@ -0,0 +1,160 @@ + + + + + Blender User + Blender 2.73.0 commit date:2015-01-07, commit time:13:17, hash:b4d8fb5 + + 2015-01-13T10:40:36 + 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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2753 2376 2327 2015 2480 2131 2864 2552 2911 2605 2885 2575 2910 2604 2331 2018 2480 2131 2481 2130 2432 2093 2330 2019 2331 2018 2914 2608 2886 2576 2911 2605 2330 2019 2760 2381 2910 2604 2912 2606 2889 2579 2914 2608 2910 2604 2935 2631 2911 2605 2936 2632 2913 2607 2937 2633 2938 2634 2914 2608 2911 2605 2939 2635 2940 2636 2352 2637 2914 2608 2941 2638 2912 2606 2356 2534 2936 2632 2353 2639 2937 2633 2913 2607 2912 2606 2349 2031 2353 2639 2915 2609 2913 2607 2936 2632 2356 2534 2340 2020 2344 2030 2342 2021 2351 2032 2355 2034 2350 2033 2353 2639 2349 2031 2356 2534 2351 2032 2915 2609 2354 2297 2672 2298 2354 2297 2348 2610 2892 2582 2943 2640 2920 2613 2872 2614 2870 2560 2890 2612 2846 2561 2872 2614 2893 2584 2871 2581 2872 2614 2890 2612 2872 2614 2871 2581 2944 2641 2872 2614 2944 2641 2945 2642 2872 2614 2945 2642 2875 2565 2848 2468 2875 2565 2849 2617 2874 2563 2875 2565 2945 2642 2405 2564 2849 2617 2875 2565 2410 2643 2921 2615 2779 2644 2410 2643 2946 2645 2411 2076 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2836 2527 2907 2602 2479 2129 2478 2127 2535 2180 2909 2603 2836 2527 2744 2366 2909 2603 2742 2365 2753 2376 2753 2376 2326 2016 2327 2015 2935 2631 2910 2604 2760 2381 2325 2014 2481 2130 2327 2015 2325 2014 2432 2093 2481 2130 2938 2634 2911 2605 2935 2631 2432 2093 2433 2092 2760 2381 2941 2638 2914 2608 2938 2634 2760 2381 2960 2662 2935 2631 2937 2633 2912 2606 2941 2638 2935 2631 2961 2663 2938 2634 2961 2663 2963 2664 2938 2634 2939 2635 2936 2632 2937 2633 2963 2664 2962 2665 2937 2633 2352 2637 2353 2639 2936 2632 2962 2665 2939 2635 2937 2633 2916 2666 2915 2609 2353 2639 2939 2635 2352 2637 2936 2632 2344 2030 2348 2610 2916 2666 2345 2026 2341 2022 2342 2021 2915 2609 2351 2032 2349 2031 2353 2639 2352 2637 2916 2666 2348 2610 2915 2609 2916 2666 2964 2667 2942 2668 2965 2669 2671 2296 2890 2612 2870 2560 2671 2296 2919 2611 2890 2612 2890 2612 2892 2582 2871 2581 2399 2071 2405 2564 2874 2563 2946 2645 2408 2069 2415 2080 2399 2071 2403 2073 2405 2564 2409 2646 2403 2073 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2744 2366 2470 2121 2742 2365 2326 2016 2742 2365 2477 2128 2960 2662 2760 2381 2433 2092 2326 2016 2479 2129 2325 2014 2961 2663 2935 2631 2960 2662 2325 2014 2551 2182 2433 2092 2977 2682 2960 2662 2433 2092 2963 2664 2941 2638 2938 2634 2963 2664 2937 2633 2941 2638 2962 2665 2963 2664 2979 2683 2978 2684 2980 2685 2961 2663 2939 2635 2962 2665 2979 2683 2980 2685 2979 2683 2963 2664 2979 2683 2981 2686 2939 2635 2916 2666 2352 2637 2984 2687 2981 2686 2940 2636 2939 2635 2940 2636 2984 2687 2352 2637 2348 2610 2347 2029 2672 2298 2985 2688 2986 2689 2918 2690 2344 2030 2916 2666 2984 2687 2964 2667 2965 2669 2987 2691 2672 2298 2919 2611 2671 2296 2942 2668 2943 2640 2917 2692 2917 2692 2919 2611 2672 2298 2917 2692 2943 2640 2892 2582 2398 2616 2399 2071 2894 2585 2398 2616 2404 2072 2399 2071 2967 2670 2403 2073 2988 2693 2404 2072 2988 2693 2403 2073 2989 2694 2968 2671 2967 2670 2967 2670 2988 2693 2989 2694 2500 2695 2503 2672 2968 2671 2968 2671 2989 2694 2500 2695 2503 2672 2500 2695 2502 2590 2499 2589 2898 2588 2950 2651 2502 2590 2499 2589 2503 2672 2949 2650 2502 2590 2494 2696 2950 2651 2951 2673 2926 2622 2950 2651 2924 2697 2951 2673 3015 2698 2951 2673 2924 2697 2951 2673 2952 2653 2826 2652 3015 2698 2952 2653 2951 2673 2969 2674 2595 2223 2599 2228 2599 2228 2595 2223 2538 2168 2538 2168 2540 2172 2541 2169 2973 2678 2833 2525 2860 2549 2955 2657 2883 2573 2928 2624 2958 2660 2990 2699 2957 2661 2974 2679 2934 2629 2956 2659 2860 2549 2991 2700 2973 2678 2745 2368 2933 2630 2974 2679 2973 2678 2991 2700 2747 2369 2469 2122 2743 2367 2992 2701 2974 2679 2747 2369 2745 2368 2993 2702 2474 2126 2466 2118 2992 2701 2933 2630 2745 2368 2473 2124 2485 2134 2759 2380 2933 2630 2992 2701 2743 2367 2469 2122 2470 2121 2743 2367 2435 2096 2762 2383 2559 2189 2468 2120 2477 2128 2470 2121 2977 2682 2433 2092 2551 2182 2478 2127 2479 2129 2477 2128 2978 2684 2960 2662 2977 2682 2551 2182 2479 2129 2535 2180 2978 2684 2961 2663 2960 2662 2551 2182 2552 2181 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https://grabcad.com/library/configurable-propdrive-v2-brushless-motor-with-mount-plate-solidworks-2019-1 + + + diff --git a/Gazebo/models/mini_talon_vtail/model.sdf b/Gazebo/models/mini_talon_vtail/model.sdf new file mode 100644 index 00000000..8a6f8f97 --- /dev/null +++ b/Gazebo/models/mini_talon_vtail/model.sdf @@ -0,0 +1,992 @@ + + + + + + + 0 0 0 0 0 0 + 1.8 + + 0.024607948 + 0 + 0 + 0.086155637 + 0 + 0.103828985 + + + + + 0 0 0 0 0 0 + + + model://mini_talon_vtail/meshes/mini_talon_fuselage_collision.stl + + + + + + 0 0 0 0 0 0 + + + model://mini_talon_vtail/meshes/mini_talon_left_wing_collision.stl + + + + + + 0 0 0 0 0 0 + + + model://mini_talon_vtail/meshes/mini_talon_right_wing_collision.stl + + + + + + 0 0 0 0 0 0 + + + model://mini_talon_vtail/meshes/mini_talon_left_tail_collision.stl + + + + + + 0 0 0 0 0 0 + + + model://mini_talon_vtail/meshes/mini_talon_right_tail_collision.stl + + + + + + 0 0 0 0 0 0 + + + model://mini_talon_vtail/meshes/mini_talon_fuselage.dae + + + + + 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0 + 1000 + 2000 + + + VELOCITY + 0.20 + 0 + 0 + 1 + -1 + 5.0 + -5.0 + + + + + + right_ruddervator_joint + 1.0471976 + -0.5 + 1000 + 2000 + COMMAND + /right_ruddervator_joint/cmd_pos + + + + + + + + + diff --git a/Gazebo/worlds/vtail_runway.sdf b/Gazebo/worlds/vtail_runway.sdf new file mode 100755 index 00000000..f822ee53 --- /dev/null +++ b/Gazebo/worlds/vtail_runway.sdf @@ -0,0 +1,115 @@ + + + + + 0.001 + 1 + + + + + + + + + + + + + + + 1.0 1.0 1.0 + 0.8 0.8 0.8 + + + + + -35.363262 + 149.165237 + 584 + 0 + EARTH_WGS84 + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + + 1 + + + 0 + 5 0 0.1 0 0 0 + + + 10 0.01 0.01 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + 0.5 0.5 0.5 1 + + + + 0 + 0 5 0.1 0 0 0 + + + 0.01 10 0.01 + + + + 0 1 0 1 + 0 1 0 1 + 0 1 0 1 + 0.5 0.5 0.5 1 + + + + 0 + 0 0 5.1 0 0 0 + + + 0.01 0.01 10 + + + + 0 0 1 1 + 0 0 1 1 + 0 0 1 1 + 0.5 0.5 0.5 1 + + + + + + + model://runway + + + + 0 0 0.2 0 0 90 + model://mini_talon_vtail + + + +