Initial plane heading for sitl simulation

PX4 Autopilot
1

Hi,

For sitl simulations (with Gazebo in my case), is there a way to set the initial heading of the plane?

I know you can use “export PX4_HOME_LAT/export PX4_HOME_LON” for the initial position, but can’t find any documentation on environment variables for px4 sitl simulations

2

@Aeris The model is spawned here: PX4-Autopilot/sitl_run.sh at c5fb68b7a1a9ba7ff7cd241de8c346d6c5f424ff · PX4/PX4-Autopilot · GitHub and you can set the default pose by editing the commands.

1 Like
3

The command seems to only include x,y,z coordinates, not attitude angles. Would I need to change the .sdf model file?

4

@Aeris gz model has a command line arguement for poses too

5

Okay figured it out. Thank you so much!

6

I’ve been looking for this for awhile. What was the change needed to adjust the pose?

7

You change the line pointed out by Jaeyoung-Lim. After -x -y -z you can add arguments for the pose. The one for yaw is -Y in radians. Here’s a link the documentation for the gz model function:
http://manpages.ubuntu.com/manpages/bionic/man1/gz.1.html

-x, –pose-x arg x value -y, –pose-y arg y value -z, –pose-z arg z value -R, –pose-R arg roll in radians. -P, –pose-P arg pitch in radians. -Y, –pose-Y arg yaw in radians.