Add AION R1 Rover model

[itskalvik]

Added AION robotics R1 Rover model with ardupilot plugin. I also fixed the tire traction issue that was preventing it from rotating in place (issue present is px4 repo's R1 model).

[srmainwaring]

Hi @itskalvik - the PR needs some more information. Take a look at the some of the other PRs for Gazebo models to get an idea of what's expected. If the model is not created by you (i.e. from PX4's model collection or somewhere else) I'd expect some attribution and notes on licensing restrictions if any.

• Link to PX4 PR: https://github.com/PX4/PX4-SITL_gazebo-classic/pull/394
• The PR contains links to the source of original meshes which are no longer valid.

[srmainwaring]

@itskalvik the PR needed a bit of work to get running. Unfortunately you've made your commits in the master branch of your fork which makes it difficult to collaborate (if I force push to your master branch it will reset it back to the origin/master which is not good). The dev guide explains the process more fully to follow next time: https://ardupilot.org/dev/docs/submitting-patches-back-to-master.html

My changes are here: https://github.com/srmainwaring/SITL_Models/tree/reviews/pr-aion-r1

• There were some typos in the config which meant the model would not load, these are fixed in: https://github.com/ArduPilot/SITL_Models/commit/8d39f8c02cae641fc2d5c364fa3570b09af9537d
• The IMU must have z-down for ArduPilot, this is why you may have found the orientation incorrect / unstable. Fix in: https://github.com/ArduPilot/SITL_Models/commit/1650f98ca013e09dc46ede4f2cb1d94d295b4e1c
• The model mass did not match the specs. Fixed in: https://github.com/ArduPilot/SITL_Models/commit/11c6ed6f3ce283c6b4a23baaeb7c344e1a92fcb4
• The CRUISE_SPEED and WP_SPEED params were set too high (3 m/s) which is not attainable by the model. Fixed in https://github.com/ArduPilot/SITL_Models/commit/be65af13307e4911ab68c1eed5351242c25fb38d with initial tune.
• Better tune in: https://github.com/ArduPilot/SITL_Models/commit/3286e635574a08a70f726a1cecaca9cef1ade384 using the Lua script. Needed to be more aggressive that defaults to get good tracking through pivot and non-pivot turns.

Details

Specifications: https://github-docs.readthedocs.io/en/latest/_images/r1-specs-cm.PNG

• mass: 5.0 kg
• payload: 11.0 kg
• max speed: 1.8 m/s

Model modifications:

• chassis: 20.0 kg => change to 10.0 kg (5kg chassis + 5k pay load)
• wheels: 0.41 kg

Param changes:

Speed:

rc 3	groundspeed (m/s	throttle (%)
1500	0.0	0
1600	0.21	20
1700	0.58	40
1800	0.92	60
1900	1.26	80
2000	1.60	100

Use RC12_OPTION 50 as auxiliary switch to learn cruise speed (rc 3 1830):

CRUISE_SPEED     1.01854407787323
CRUISE_THROTTLE  63.0
WP_SPEED 1.0

Steering

ACRO_TURN_RATE 140

Rover quick tune. Run with higher RTUN_STR_FFRATIO for more aggressive tune.

RTUN_STR_FFRATIO 1.5

[itskalvik]

Oh wow, yeah these changes are fantastic! I will go through the documentation and try to improve my future pull requests. Thanks @srmainwaring :)

[srmainwaring]

@itskalvik - it's nice to have this model available. It's still a little twitchy but that's possibly still down to the wheel collisions / physics rather than the AP tune.

There's a couple of ways we could get this PR merged. 1. you can take a branch of your PR as a backup, reset your forked master to origin/master then cherry-pick the commits from my branch and then push, or 2. close this PR, open a new PR from a fresh branch (named say prs/pr-aion-r1), then I can edit / force push to that as needed. Either way will work, closing this PR and re-opening with a named branch is the better practice though.

If you're not sure how either of these processes work I can help you through it sometime on the ArduPilot Discord server. Getting to grips with ArduPilot's expected git usage is quite a steep learning process, but well worth it especially if you plan to contribute to the main flight controller repo.