Fix servo reverse related issue.

ArduPilot / ardupilot_gazebo

Plugins and models for vehicle simulation in Gazebo Sim with ArduPilot SITL controllers

GNU Lesser General Public License v3.0

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Fix servo reverse related issue. #24

Closed 41Mo closed 1 year ago

41Mo commented 2 years ago

Bug report

Closes #22

Issue details

Platform [ ] All [ ] AntennaTracker [ ] Copter [ x ] Plane [ ] Rover [ ] Submarine

Airframe type

Flying wing

Hardware type

Gazebo / SITL

Description

Servos directions for the zephyr in the ardupilot_plugin parameters are reversed.

Changes

Changed multiplier in zephyr sdf
Update parameters description zephyr sdf

Test

Tested on zephyr with ardupilot 4.1.7

srmainwaring commented 1 year ago

@41Mo, thank you for the PR - it will be good to get the Zephyr behaviour sync'd up with the current params in SITL.

As of PR #29 Gazebo Garden is now default. I have changed the base branch for this PR to main. Could you please rebase and force push (happy to do this on your behalf if you prefer).

41Mo commented 1 year ago

@srmainwaring done

srmainwaring commented 1 year ago

LGTM. Confirmed on ardupilot master / Gazebo Sim, version 7.1.0

sim_vehicle.py -v ArduPlane -f gazebo-zephyr --model JSON --map --console

FBWA> arm throttle
FBWA> rc 3 1800
FBWA> circle