Add tiltrotor cam model

F
ethz-asl · Oct 20, 2023 · 32b4447 · 32b4447
1 parent 28da687
commit 32b4447
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Showing 4 changed files with 15 additions and 1 deletion.
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1045_tiltrotor_cam b/ROMFS/px4fmu_common/init.d-posix/airframes/1045_tiltrotor_cam
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# @name Tiltrotor SITL with camera
+#
+
+. ${R}etc/init.d-posix/airframes/1042_tiltrotor
+
+# Camera trigger interface is MAVLink
+param set-default TRIG_INTERFACE 3
+
+# Distance trigger mode enabled
+param set-default TRIG_MODE 4
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -67,6 +67,7 @@ px4_add_romfs_files(
 	1042_tiltrotor
 	1043_standard_vtol_drop
 	1044_plane_lidar
+	1045_tiltrotor_cam
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1

diff --git a/Tools/simulation/gazebo/sitl_gazebo b/Tools/simulation/gazebo/sitl_gazebo
diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo.cmake
@@ -92,6 +92,7 @@ set(models
 	tailsitter
 	techpod
 	tiltrotor
+	tiltrotor_cam
 	typhoon_h480
 	uuv_bluerov2_heavy
 	uuv_hippocampus