Gazebo SITL with wind_plugin for Tiltrotor

PX4 Autopilot VTOL 🚁
1

Hello everybody,

I am experimenting with the tiltrotor gazebo simulation using the libgazebo_wind_plugin. My PX4 Version is v1.11-beta.

I encountered some weird behavior when pushing the mean wind force (in the tiltrotor.sdf) to some higher values (here 2.7). When reaching the required altitude the tiltrotor wants to adjust the heading but is unable too, possibly because of the wind. The mission gets cancelled afterwards.

Does anyone know what adjustments need to be done in order to get a working SITL simulaton including wind?

Thanks for all your help in advance :slight_smile:

gazebo_windplugin_issue
gazebo_windplugin_issue1709×800 741 KB

2

@notoriou5 Currently wind is modeled as a force, and it doesn’t have any influence on airspeed.

To use a proper wind model you need this PR https://github.com/PX4/sitl_gazebo/pull/375

3

Thanks a lot, I will have a look into it :slight_smile:

4

@Jaeyoung-Lim I tested your plugin today but I ran into some issues when using it together with PX4 v1.11.0-beta1. I checked out to your pr-add-wind-to-lift branch and became following issues:

make px4_sitl gazebo_plane

wind_plugin_error_plane
wind_plugin_error_plane727×155 26.8 KB

make px4_sitl gazebo

gazebo_wind_plugin_error_iris
gazebo_wind_plugin_error_iris718×319 55.1 KB

Do you know what could be wrong? Do I use a incompatible version of PX4?

Thanks,

5

Were you able to get this to work? I am currently experiencing a similar issue and would appreciate any advice. I am on px4 v1.12.3. Did you insert the contents of the plugin inside one of the world files residing at the location PX-Autopilot/Tools/sitl_gazebo/worlds/ ?

6

@Josh I don’t think your errors would be related since the issue have been resolved since.

Please post a new issue with the description of your problem and how to reproduce it

8

I was able to add the windy.world plugin and change the windspeed. However I am stuck on a related issue. Could you please advice me on this problem: https://discuss.px4.io/t/trouble-checking-windspeeds-set-during-gazebo-simulation/25717?u=josh