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SIH: add Hexacopter X

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to enable easy simulation of a motor failure.
This commit is contained in:
Matthias Grob
2025-05-12 18:57:29 +02:00
parent 9e45f077b1
commit 0b3fc0a62d
8 changed files with 101 additions and 24 deletions
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18
docs/en/sim_sih/index.md
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@@ -58,6 +58,7 @@ To set up/start SIH:
1. Open QGroundControl and wait for the flight controller too boot and connect.
1. Open [Vehicle Setup > Airframe](../config/airframe.md) then select the desired frame:
- [SIH Quadcopter X](../airframes/airframe_reference.md#copter_simulation_sih_quadcopter_x)
- SIH Hexacopter X currently only has an airframe for SITL to safe flash so on flight control hardware it has to be manually configured equivalently.
- [SIH plane AERT](../airframes/airframe_reference.md#plane_simulation_sih_plane_aert)
- [SIH Tailsitter Duo](../airframes/airframe_reference.md#vtol_simulation_sih_tailsitter_duo)
- [SIH Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_simulation_sih_standard_vtol_quadplane)
@@ -114,25 +115,31 @@ To run SIH as SITL:
1. Install the [PX4 Development toolchain](../dev_setup/dev_env.md).
1. Run the appropriate make command for each vehicle type (at the root of the PX4-Autopilot repository):
- quadrotor:
- Quadcopter
```sh
make px4_sitl sihsim_quadx
```
- Fixed-wing (plane):
- Hexacopter
```sh
make px4_sitl sihsim_hex
```
- Fixed-wing (plane)
```sh
make px4_sitl sihsim_airplane
```
- XVert VTOL tailsitter:
- XVert VTOL tailsitter
```sh
make px4_sitl sihsim_xvert
```
- Standard VTOL:
- Standard VTOL
```sh
make px4_sitl sihsim_standard_vtol
@@ -231,7 +238,8 @@ For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.
The dynamic models for the various vehicles are:
- Quadrotor: [pdf report](https://github.com/PX4/PX4-user_guide/raw/main/assets/simulation/SIH_dynamic_model.pdf).
- Quadcopter: [pdf report](https://github.com/PX4/PX4-user_guide/raw/main/assets/simulation/SIH_dynamic_model.pdf).
- Hexacopter: Equivalent to the Quadcopter but with a symmetric hexacopter x actuation setup.
- Fixed-wing: Inspired by the PhD thesis: "Dynamics modeling of agile fixed-wing unmanned aerial vehicles." Khan, Waqas, supervised by Nahon, Meyer, McGill University, PhD thesis, 2016.
- Tailsitter: Inspired by the master's thesis: "Modeling and control of a flying wing tailsitter unmanned aerial vehicle." Chiappinelli, Romain, supervised by Nahon, Meyer, McGill University, Masters thesis, 2018.

2
docs/en/simulation/community_supported_simulators.md
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@@ -14,8 +14,8 @@ Questions about these tools should be raised on the [discussion forums](../contr
| Simulator | Description |
| ---------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) | <p>A simulator implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). It can be ran in SITL directly on the computer or as an alternative to HITL offering a hard real-time simulation directly on the hardware autopilot. </p><p><strong>Supported Vehicles:</strong> Quad, Hexa, Plane, Tailsitter, Standard VTOL</p> |
| [FlightGear](../sim_flightgear/index.md) | <p>A simulator that provides physically and visually realistic simulations. In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. [Multi-vehicle simulation](../sim_flightgear/multi_vehicle.md) is also supported.</p> <p><strong>Supported Vehicles:</strong> Plane, Autogyro, Rover</p> |
| [JMAVSim](../sim_jmavsim/index.md) | <p>A simple multirotor/quad simulator. This was previously part of the PX4 development toolchain but was removed in favour of [Gazebo](../sim_gazebo_gz/index.md).</p> <p><strong>Supported Vehicles:</strong> Quad</p> |
| [JSBSim](../sim_jsbsim/index.md) | <p>A simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.</p> <p><strong>Supported Vehicles:</strong> Plane, Quad, Hex</p> |
| [AirSim](../sim_airsim/index.md) | <p>A cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a very significantly more powerful computer than the other simulators described here.</p><p><strong>Supported Vehicles:</strong> Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).</p> |
| [Simulation-In-Hardware](../sim_sih/index.md) (SIH) | <p>An alternative to HITL that offers a hard real-time simulation directly on the hardware autopilot. This simulator is implemented in C++ as a PX4 module directly in the Firmware [code](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih). </p><p><strong>Supported Vehicles:</strong> Plane, Quad, Tailsitter, Standard VTOL</p> |