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gz: publish sensor_gps #24416

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6185474
disable SENS_EN_GPSSIM for all gz airframes
dakejahl Feb 26, 2025
aaf9ecc
add GPS + noise to GZBridge
dakejahl Feb 26, 2025
71b56a3
remove mutex from gz callbacks. Callbacks run synchronously after sim…
dakejahl Feb 26, 2025
3d54fe4
remove hrt check in callbacks
dakejahl Feb 26, 2025
9635d23
format
dakejahl Feb 26, 2025
369a096
remove param set-default for already default params
dakejahl Feb 26, 2025
1b1bb87
update submodule
dakejahl Feb 26, 2025
492a3ef
remove unnecessary comments
dakejahl Feb 26, 2025
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2 changes: 0 additions & 2 deletions ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500
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Expand Up @@ -13,8 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}

param set-default SIM_GZ_EN 1

param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1

param set-default CA_AIRFRAME 0
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2 changes: 0 additions & 2 deletions ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
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Expand Up @@ -12,8 +12,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}

param set-default SIM_GZ_EN 1

param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1

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2 changes: 0 additions & 2 deletions ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
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Expand Up @@ -13,8 +13,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}

param set-default SIM_GZ_EN 1

param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1

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2 changes: 0 additions & 2 deletions ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
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Expand Up @@ -14,8 +14,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=px4vision}

param set-default SIM_GZ_EN 1

param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1

# Commander Parameters
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1 change: 0 additions & 1 deletion ROMFS/px4fmu_common/init.d-posix/airframes/4008_gz_advanced_plane
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Expand Up @@ -11,7 +11,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=advanced_plane}

param set-default SIM_GZ_EN 1

param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 1

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3 changes: 0 additions & 3 deletions ROMFS/px4fmu_common/init.d-posix/airframes/4009_gz_r1_rover
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Expand Up @@ -46,10 +46,7 @@ param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1

# Simulated sensors
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0

# Actuator mapping
param set-default SIM_GZ_WH_FUNC1 101 # right wheel
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3 changes: 0 additions & 3 deletions ROMFS/px4fmu_common/init.d-posix/airframes/4011_gz_lawnmower
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Expand Up @@ -12,10 +12,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=lawnmower}
param set-default SIM_GZ_EN 1 # Gazebo bridge

# Simulated sensors
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0
# We can arm and drive in manual mode when it slides and GPS check fails:
param set-default COM_ARM_WO_GPS 1

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3 changes: 0 additions & 3 deletions ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann
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Expand Up @@ -45,10 +45,7 @@ param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1

# Simulated sensors
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0

# Wheels
param set-default SIM_GZ_WH_FUNC1 101
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3 changes: 0 additions & 3 deletions ROMFS/px4fmu_common/init.d-posix/airframes/4015_gz_r1_rover_mecanum
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Expand Up @@ -45,10 +45,7 @@ param set-default PP_LOOKAHD_MAX 10
param set-default PP_LOOKAHD_MIN 1

# Simulated sensors
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0

# Actuator mapping
param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
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4 changes: 0 additions & 4 deletions ROMFS/px4fmu_common/init.d-posix/airframes/4018_gz_quadtailsitter
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Expand Up @@ -13,11 +13,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=quadtailsitter}

param set-default SIM_GZ_EN 1 # Gazebo bridge

param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0


param set-default MAV_TYPE 20

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3 changes: 0 additions & 3 deletions ROMFS/px4fmu_common/init.d-posix/airframes/4020_gz_tiltrotor
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Expand Up @@ -13,10 +13,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=tiltrotor}

param set-default SIM_GZ_EN 1 # Gazebo bridge

param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1
param set-default SENS_EN_ARSPDSIM 0

param set-default MAV_TYPE 21

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2 changes: 0 additions & 2 deletions ROMFS/px4fmu_common/init.d-posix/airframes/71002_gz_spacecraft_2d
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Expand Up @@ -15,8 +15,6 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=spacecraft_2d}

param set-default SIM_GZ_EN 1

param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 1
param set-default SENS_EN_MAGSIM 1
param set-default COM_ARM_CHK_ESCS 0 # We don't have ESCs
param set-default FD_ESCS_EN 0 # We don't have ESCs - but maybe we need this later?
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2 changes: 0 additions & 2 deletions ROMFS/px4fmu_common/init.d-posix/airframes/8011_gz_omnicopter
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Expand Up @@ -83,8 +83,6 @@ param set-default CA_ROTOR7_AY -0.211325
param set-default CA_ROTOR7_AZ -0.57735

param set-default SIM_GZ_EN 1
param set-default SENS_EN_GPSSIM 1
param set-default SENS_EN_BAROSIM 0
param set-default SENS_EN_MAGSIM 1

param set-default SIM_GZ_EC_FUNC1 101
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2 changes: 1 addition & 1 deletion Tools/simulation/gz
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Submodule gz updated 6 files
+11 −0 models/optical_flow/model.config
+79 −0 models/optical_flow/model.sdf
+19 −25 models/x500_base/model.sdf
+11 −0 models/x500_flow/model.config
+72 −0 models/x500_flow/model.sdf
+382 −0 worlds/forest.sdf
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