Open srmainwaring opened 1 year ago
A Pik-20B sailplane (full scale).
The vehicle uses the default parameters for ArduPlane with the following modifications based on an autotune of the roll and pitch axes and a manual configuration of the TECS parameters (with no airspeed sensor). It is suitable for all modes.
TECS
Parameter Current Default TKOFF_TDRAG_ELEV 100.000000 0.000000 TKOFF_TDRAG_SPD1 10.000000 0.000000 TKOFF_ROTATE_SPD 25.000000 0.000000 TKOFF_THR_SLEW 10.000000 0.000000 ARSPD_FBW_MIN 28.000000 9.000000 ARSPD_FBW_MAX 60.000000 22.000000 TRIM_THROTTLE 40.000000 45.000000 LIM_ROLL_CD 6000.000000 4500.000000 LIM_PITCH_MAX 1600.000000 2000.000000 LIM_PITCH_MIN -3000.000000 -2500.000000 ACRO_ROLL_RATE 90.000000 180.000000 ACRO_PITCH_RATE 90.000000 180.000000 ACRO_YAW_RATE 90.000000 0.000000 TRIM_ARSPD_CM 4400.0000 1200.000000 SCALING_SPEED 44.000000 15.000000 TRIM_PITCH_CD 100.000000 0.000000 ARMING_RUDDER 0.000000 1.000000 # Disabled (DEFAULT: ArmingOnly) RLL_RATE_P 0.406230 0.080000 RLL_RATE_I 0.406230 0.150000 RLL_RATE_D 0.014926 0.000000 RLL_RATE_FF 1.097314 0.345000 RLL_RATE_FLTT 3.183099 3.000000 RLL_RATE_FLTD 10.000000 12.000000 PTCH2SRV_TCONST 0.750000 0.500000 PTCH2SRV_RMAX_UP 75.000000 0.000000 PTCH2SRV_RMAX_DN 75.000000 0.000000 PTCH2SRV_RLL 0.350000 1.000000 PTCH_RATE_P 0.649316 0.040000 PTCH_RATE_I 2.388867 0.150000 PTCH_RATE_D 0.018863 0.000000 PTCH_RATE_FF 2.388867 0.345000 PTCH_RATE_FLTT 2.122066 3.000000 PTCH_RATE_FLTD 10.000000 12.000000 YAW_RATE_ENABLE 1.000000 0.000000 NAVL1_PERIOD 10.000000 17.000000 TECS_LAND_ARSPD 30.000000 -1.000000 TECS_LAND_THR 0.000000 -1.000000 TECS_LAND_SINK 1.000000 0.250000 SERVO1_MIN 1000.000000 1100.000000 SERVO1_MAX 2000.000000 1900.000000 SERVO2_MIN 1000.000000 1100.000000 SERVO2_MAX 2000.000000 1900.000000 SERVO3_MIN 1000.000000 1100.000000 SERVO3_MAX 2000.000000 1900.000000 SERVO4_MIN 1000.000000 1100.000000 SERVO4_MAX 2000.000000 1900.000000 ARSPD_TYPE 0.000000 2.000000 # None (DEFAULT: Analog)
Gazebo:
gz sim -v4 -r sailplane_runway.sdf
SITL:
sim_vehicle.py -N -D -v ArduPlane -f JSON --console
Follow camera:
gz service -s /gui/follow/offset --reqtype gz.msgs.Vector3d --reptype gz.msgs.Boolean --timeout 2000 --req "x: 60, y: 10, z: 7" data: true
Figure: takeoff in FBWA mode
FBWA
Figure: AUTO mode
AUTO
Original CAD model used with kind permission by Aki Suokas.
A Pik-20B sailplane (full scale).
Parameters
The vehicle uses the default parameters for ArduPlane with the following modifications based on an autotune of the roll and pitch axes and a manual configuration of the
TECS
parameters (with no airspeed sensor). It is suitable for all modes.Usage
Gazebo:
SITL:
Follow camera:
Figure: takeoff in![pik_20b_takeoff](https://github.com/ArduPilot/SITL_Models/assets/24916364/6c1e320a-eb58-4743-ac81-0d742168f526)
FBWA
modeFigure:![pik_20b_auto](https://github.com/ArduPilot/SITL_Models/assets/24916364/517fb038-c5a9-4c89-928e-2e6cd11f70f2)
AUTO
modeLinks
Credits
Original CAD model used with kind permission by Aki Suokas.