Appply Hexacopter model for AirSim SITL

[kestr31]

• Added BP & models for hexacopter simultion: Typhoon H480

[kestr31]

• Applied Typhoon H480 mesh using .stl mesh from PX4/PX4-SITL_gazebo
  • Modified by Blender. Added material and converted it into .fbx format while modifying axis of props.

• Mesh was loaded by PawnPath option. However, it just looks like Hexacopter and dynamics is not applied. Working on it.

[kestr31]

• Issue resolved. Model had to be stated on settings.json as Hexacopter
• Next step is to review dynamics model of Hexacopter in AirSim

[kestr31]

• Based on test, origin coordinate of sensors locates at about 224.76 mm above ground.
• Horizontal centerpoint seems to match with mesh origin.

• Based on measurement from Blender, location of RPLIDAR A3 and RealSense D455 RGB/depth camera could be decided:
  • LPLIDAR locates at gimbal's position. Gimbal will be removed later on.
  • Realsense locates at Typhoon H480's realsense module position.

• For RealSense D455, position of depth camera is based on depth sensor on mid left.

[kestr31]

• AirSim models multirotor drone as a box with arms attached on it.
• Therefore, in order to locate a 'box', measurement of projected area & estimation of intertial matrix should be made
• Folloawing 3 files have to be modified for application of custom multirotor dynamics:
  • AirSim/AirLib/include/vehicles/multirotor/MultiRotorParams.hpp: Geometry definition
  • AirSim/AirLib/include/vehicles/multirotor/RotorParams.hpp: Propeller & Motor parameters
  • AirSim/AirLib/include/vehicles/multirotor/firmwares/mavlink/Px4MultiRotorParams.hpp: Defining 'entrypoint' in AirSim settings ("Model":)
• Slightly modified Typhoon H480 parameters were in assuming AirSim default 9 x 5 prop
  • However, this is very crude. Further improvements should be made.

H480 Parmeters Reference

• Typhoon H Datasheet
• YUNEEC Typhoon H Hexacopter with GCO3+ 4K Camer

[kestr31]

• Configuration of model with RealSense D455 and RPLIDAR A3 is as shown.