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Gazebo: Add Pik-20B sailplane #97

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Gazebo: Add Pik-20B sailplane #97

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Commits on Jun 10, 2023

  1. Sailplane: initial draft of Pik-20B sailplane 

    - Add model template and meshes.

Signed-off-by: Rhys Mainwaring <[email protected]>
    @srmainwaring
    srmainwaring committed Jun 10, 2023
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  2. Sailplane: configure wheel joints 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 10, 2023
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  3. Sailplane: configure elevator and rudder joints 

    Signed-off-by: Rhys Mainwaring <[email protected]>
    @srmainwaring
    srmainwaring committed Jun 10, 2023
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  4. Sailplane: add engine, prop and thruster plugin 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 10, 2023
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  5. Sailplane: update CoM pose for wheels, elevator and rudder 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 10, 2023
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  6. Sailplane: correct typo in left aileron mesh name 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 10, 2023
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  7. Sailplane: correct joint lower limit for elevator and rudder 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 10, 2023
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  8. Sailplane: configure aileron joints 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 10, 2023
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  9. Sailplane: add joint controller plugins for ailerons, elevator and ru… 

    …dder

Signed-off-by: Rhys Mainwaring <[email protected]>
    @srmainwaring
    srmainwaring committed Jun 10, 2023
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  10. Sailplane: reoreder joint controller plugins 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 10, 2023
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  11. Sailplane: configure flap joints and controllers 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 10, 2023
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Commits on Jun 11, 2023

  1. Sailplane: add CP visuals and lift-drag plugins 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 11, 2023
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  2. Sailplane: update CoM positions and inertia estimates 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 11, 2023
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  3. Sailplane: add imu and navsat sensors 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 11, 2023
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  4. Sailplane: add joint state publisher 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 11, 2023
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  5. Sailplane: tune position controller pids 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 11, 2023
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  6. Sailplane: configure thruster plugin to use cmd_vel 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 11, 2023
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  7. Sailplane: add ardupilot_gazebo plugin and configure controllers 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 11, 2023
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Commits on Jun 12, 2023

  1. Sailplane: align links and CoM part 1 - fuselage 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 12, 2023
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  2. Sailplane: align links and CoM part 2 - wheels 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 12, 2023
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  3. Sailplane: align links and CoM part 3 - flaps 

    - Update joint controller pids.

Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 12, 2023
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  4. Sailplane: align links and CoM part 4 - ailerons, elevator and rudder 

    - Update remaining control surfaces.
- Enable system plugins.

Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 12, 2023
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  5. Sailplane: align links and CoM part 5 - remove commented poses 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 12, 2023
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Commits on Jun 14, 2023

  1. Sailplane: configure for flight 

    - Adjust CoM forward 0.2 m
- Reduce engine thrust coefficient.
- Disable flaps.
- Correct area of control surfaces in lift-drag plugins.
- Update linear drag coefficient.
- Update AoA for v-stab and rudder.
- Correct signs for aileron and elevator control channels.
- Add wing supports for testing balance.

Signed-off-by: Rhys Mainwaring <[email protected]>
    @srmainwaring
    srmainwaring committed Jun 14, 2023
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  2. Sailplane: hide debug visuals 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 14, 2023
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Commits on Jun 15, 2023

  1. Sailplane: update thrust system coefficients 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 15, 2023
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Commits on Jun 16, 2023

  1. Sailplane: update aerodynamics coefficients 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 16, 2023
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Commits on Jun 19, 2023

  1. Sailplane: update CoM position, engine pitch and elevator control. 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 19, 2023
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  2. Sailplane: add doc and params. 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jun 19, 2023
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Commits on Jul 3, 2023

  1. Sailplane: add images for lift-drag coefficient approx 

    Signed-off-by: Rhys Mainwaring <[email protected]>
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    srmainwaring committed Jul 3, 2023
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