This PR adds a parachute plugin requested in #33 and builds on the initial version by @41Mo.
Closes #33.
Details
Add a system plugin ParachutePlugin that can be included in a <model>...</model> element.
Add a version of the zephyr model with the ArduPilotPlugin configured to forward servo commands for parachute release to the gz topicparachute/command.
Add an example world zephyr_parachute.sdf.
Add a test world test_parachute.sdf that adds a parachute to a box that can be deployed using the gz topic command line to publish a release command.
Fix the collision and inertial of the parachute model to prevent bad collision behaviour (ODE asserts) when the model is attached to the vehicle at run time.
This PR adds a parachute plugin requested in #33 and builds on the initial version by @41Mo.
Details
ParachutePlugin
that can be included in a<model>...</model>
element.ArduPilotPlugin
configured to forward servo commands for parachute release to thegz topic
parachute/command
.zephyr_parachute.sdf
.test_parachute.sdf
that adds a parachute to a box that can be deployed using thegz topic
command line to publish a release command.Example: Zephyr Delta Wing with Parachute
The ArduPilot wiki entry for configuring a parachute is here: Peripheral Hardware/Parachute.
Parachute set up
ArduPilotPlugin
Add a control element for the parachute:
ParachutePlugin
Add the parachute plugin element to the model:
Zephyr Parameters
Set the parameters for parachute release using MAVProxy:
Running
Gazebo Sim
ArduPilot SITL
MAVProxy commands
A figure of 8 mission at alt = 100m is set.
Figure: Parachute release with zephyr delta wing.
https://user-images.githubusercontent.com/24916364/208469930-0c5e81dd-ccf1-4d59-98ea-f333e8cb6cfd.mov