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170 lines
4.5 KiB
170 lines
4.5 KiB
{# parameters #}
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{%- set m = 0.038 -%}
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{%- set w = 0.049784 -%}
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{%- set l = 0.081534 -%}
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{%- set h = 0.01557 -%}
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{%- set ixx = m/12*(w**2 + l**2) -%}
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{%- set iyy = m/12*(l**2 + h**2) -%}
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{%- set izz = m/12*(w**2 + h**2) -%}
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{%- macro box(l, w, h) -%}
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<geometry>
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<box>
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<size>{{l}} {{w}} {{h}}</size>
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</box>
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</geometry>
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{%- endmacro -%}
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<?xml version="1.0" ?>
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<sdf version="1.5">
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<model name="pixhawk">
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<link name="link">
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<inertial>
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<mass>{{m}}</mass>
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<inertia>
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<ixx>{{ixx}}</ixx>
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<iyy>{{iyy}}</iyy>
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<izz>{{izz}}</izz>
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</inertia>
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</inertial>
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<visual name="visual">
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{{ box(l, w, h)|indent(8) }}
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<material>
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<script>
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<uri>file://media/materials/scripts/gazebo.material</uri>
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<name>Gazebo/FlatBlack</name>
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</script>
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</material>
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</visual>
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<collision name="collision">
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{{ box(l, w, h)|indent(8) }}
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</collision>
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<sensor name='mpu-6000' type='imu'>
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<always_on>true</always_on>
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<update_rate>300</update_rate>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.017</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.017</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.017</stddev>
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<bias_mean>0.1</bias_mean>
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<bias_stddev>0.001</bias_stddev>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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</sensor>
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<sensor name='ms5611' type='altimeter'>
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<pose>0 0 0 0 0 0</pose>
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<always_on>true</always_on>
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<update_rate>10</update_rate>
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<altimeter>
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<vertical_position>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.0</stddev>
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<bias_mean>0.0</bias_mean>
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<bias_stddev>1.0</bias_stddev>
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</noise>
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</vertical_position>
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<vertical_velocity>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.0</stddev>
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<bias_mean>0.0</bias_mean>
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<bias_stddev>1.0</bias_stddev>
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</noise>
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</vertical_velocity>
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</altimeter>
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</sensor>
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<sensor name="LSM303D" type="magnetometer">
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<always_on>true</always_on>
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<update_rate>50</update_rate>
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<magnetometer>
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<x>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0</mean>
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<stddev>0.0002</stddev>
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<bias_mean>7.5e-06</bias_mean>
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<bias_stddev>8e-07</bias_stddev>
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</noise>
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</z>
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</magnetometer>
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</sensor>
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</link>
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</model>
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</sdf>
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<!-- vim: set et ft=xml fenc=utf-8 ff=unix sts=0 sw=2 ts=2 : -->
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