Custom airframe model addition for jmavsim and Gazebo simulators

Karukkuvel0Killis · April 12, 2024, 7:59am

Hi, I am trying to test a new controller designed for a quad model based on dji f450 frame and I don’t know how to add these models with the simulators and control it with PX4

windy-tree · February 17, 2025, 8:19am

Hi there, do you get the solutions?

Karukkuvel0Killis · February 17, 2025, 9:34am

I modified these lines in the simulator code, according to my need:

github.com/PX4/jMAVSim

src/me/drton/jmavsim/Simulator.java

66b764ada


      
          AbstractMulticopter vehicle = new Quadcopter(world, vehicle_model, "x", "default",
                                                       0.33 / 2, 4.0, 0.05, 0.005, gc, SHOW_GUI);
          Matrix3d I = new Matrix3d();
          // Moments of inertia
          I.m00 = 0.005;  // X
          I.m11 = 0.005;  // Y
          I.m22 = 0.009;  // Z
          vehicle.setMomentOfInertia(I);
          vehicle.setMass(0.8);

And I also modified the models’ files (don’t alter its names):

The model loaded in the sim is changed, but I couldn’t verify whether the physics are loaded in the simulator

windy-tree · February 17, 2025, 1:02pm

I just found an answer here—Create custom model for SITL - #4 by antonerasm which helped me upload my model into Gazebo.

But all links of my vehicle scattered over ground that maybe seems like your description above(‘The model loaded in the sim is changed’)