From 527d024dbd2f825afcf28350ce07c9e35afa0a8e Mon Sep 17 00:00:00 2001 From: haitomatic Date: Fri, 1 Nov 2024 10:31:49 +0000 Subject: [PATCH] HITL, SITL: use reference home position and global position groundtruth fully from gazebo navsat data --- .../airframes/4401_gz_ssrc_holybro_x500 | 1 - .../airframes/4404_gz_ssrc_standard_vtol | 1 - .../airframes/4430_gz_ssrc_strivermini | 1 - .../airframes/4440_gz_ssrc_skywalker_x8 | 1 - .../airframes/50005_gz_ssrc_scout_mini | 1 - ROMFS/px4fmu_common/init.d/rc.hitl_testing | 2 - src/modules/mavlink/mavlink_params.c | 35 +----- src/modules/mavlink/mavlink_receiver.cpp | 50 +++----- src/modules/mavlink/mavlink_receiver.h | 12 +- src/modules/simulation/gz_bridge/GZBridge.cpp | 114 +++++++++--------- src/modules/simulation/gz_bridge/GZBridge.hpp | 18 +-- src/modules/simulation/gz_bridge/parameters.c | 35 +----- ssrc_config/config_hitl_eth_gzsim.txt | 1 - ssrc_config/config_hitl_eth_gzsim_fw.txt | 1 - ssrc_config/config_hitl_eth_gzsim_mc.txt | 1 - ssrc_config/config_hitl_eth_gzsim_rover.txt | 1 - ssrc_config/config_hitl_eth_gzsim_vtol_sm.txt | 1 - ssrc_config/config_hitl_eth_gzsim_vtol_sv.txt | 1 - 18 files changed, 80 insertions(+), 197 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_holybro_x500 b/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_holybro_x500 index 86f117824f19..f2cae764b4ae 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_holybro_x500 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_holybro_x500 @@ -12,7 +12,6 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} PX4_SIM_MODEL=${PX4_SIM_MODEL:=holybro_x500} param set-default SIM_GZ_EN 1 -param set-default SIM_GZ_SHOME 1 if [ "$PX4_RUN_GZSIM" = "0" ]; then param set-default SIM_GZ_RUN_GZSIM 0 else diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4404_gz_ssrc_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/4404_gz_ssrc_standard_vtol index 59f3c9db02e4..65911612094a 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4404_gz_ssrc_standard_vtol +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4404_gz_ssrc_standard_vtol @@ -12,7 +12,6 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} PX4_SIM_MODEL=${PX4_SIM_MODEL:=ssrc_standard_vtol} param set-default SIM_GZ_EN 1 -param set-default SIM_GZ_SHOME 1 if [ "$PX4_RUN_GZSIM" = "0" ]; then param set-default SIM_GZ_RUN_GZSIM 0 else diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini b/ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini index 1fb3f8dd9d79..ce9726a4689c 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4430_gz_ssrc_strivermini @@ -24,7 +24,6 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} PX4_SIM_MODEL=${PX4_SIM_MODEL:=strivermini} param set-default SIM_GZ_EN 1 -param set-default SIM_GZ_SHOME 1 if [ "$PX4_RUN_GZSIM" = "0" ]; then param set-default SIM_GZ_RUN_GZSIM 0 else diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 index 265809d7a8fe..15442bbe3391 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 @@ -13,7 +13,6 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} PX4_SIM_MODEL=${PX4_SIM_MODEL:=skywalker_x8} param set-default SIM_GZ_EN 1 -param set-default SIM_GZ_SHOME 1 if [ "$PX4_RUN_GZSIM" = "0" ]; then param set-default SIM_GZ_RUN_GZSIM 0 else diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini b/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini index da999f1bcd05..d512acab9b94 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini @@ -15,7 +15,6 @@ PX4_GZ_WORLD=${PX4_GZ_WORLD:=default} PX4_SIM_MODEL=${PX4_SIM_MODEL:=scout_mini} param set-default SIM_GZ_EN 1 -param set-default SIM_GZ_SHOME 1 if [ "$PX4_RUN_GZSIM" = "0" ]; then param set-default SIM_GZ_RUN_GZSIM 0 else diff --git a/ROMFS/px4fmu_common/init.d/rc.hitl_testing b/ROMFS/px4fmu_common/init.d/rc.hitl_testing index ed89d23734e2..b0bc6b0dc653 100644 --- a/ROMFS/px4fmu_common/init.d/rc.hitl_testing +++ b/ROMFS/px4fmu_common/init.d/rc.hitl_testing @@ -8,8 +8,6 @@ param set SYS_HITL 1 param set UAVCAN_ENABLE 0 param set-default SYS_FAILURE_EN 1 -param set MAV_HITL_SHOME 0 - param set-default SENS_EN_GPSSIM 1 param set-default SENS_EN_BAROSIM 1 param set-default SENS_EN_MAGSIM 1 diff --git a/src/modules/mavlink/mavlink_params.c b/src/modules/mavlink/mavlink_params.c index 1cc5fa5d162f..d50aed2aa1f3 100644 --- a/src/modules/mavlink/mavlink_params.c +++ b/src/modules/mavlink/mavlink_params.c @@ -154,37 +154,4 @@ PARAM_DEFINE_INT32(MAV_HB_FORW_EN, 1); * @min 1 * @max 250 */ -PARAM_DEFINE_INT32(MAV_RADIO_TOUT, 5); - -/** - * mavlink receiver HITL use simulated origin (home) position - * - * @boolean - * @reboot_required true - * @group MAVLink - */ -PARAM_DEFINE_INT32(MAV_HITL_SHOME, 0); - -/** - * mavlink receiver HITL simulated origin latitude - * - * @unit deg - * @group MAVLink - */ -PARAM_DEFINE_FLOAT(MAV_HITL_LAT, 47.397742f); - -/** - * mavlink receiver HITL simulated origin longitude - * - * @unit deg - * @group MAVLink - */ -PARAM_DEFINE_FLOAT(MAV_HITL_LON, 8.545594); - -/** - * mavlink receiver HITL simulated origin altitude - * - * @unit m - * @group MAVLink - */ -PARAM_DEFINE_FLOAT(MAV_HITL_ALT, 488.0); +PARAM_DEFINE_INT32(MAV_RADIO_TOUT, 5); \ No newline at end of file diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 3ab7055067d6..253eb4099fba 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -2346,10 +2346,19 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg) mavlink_msg_hil_gps_decode(msg, &hil_gps); if (_mavlink->get_hil_enabled()) { - _hitl_sim_gps_time_usec = hil_gps.time_usec; - _hitl_sim_home_lat = hil_gps.lat / 1e7; - _hitl_sim_home_lon = hil_gps.lon / 1e7; - _hitl_sim_home_alt = hil_gps.alt / 1e3f; + if (!_hil_pos_ref.isInitialized()) { + _hil_pos_ref.initReference(hil_gps.lat / 1e7, hil_gps.lon / 1e7, hrt_absolute_time()); + _hil_alt_ref = hil_gps.alt / 1e3f; + + } else { + // Publish GPS groundtruth + vehicle_global_position_s hil_global_position_groundtruth{}; + hil_global_position_groundtruth.timestamp_sample = hrt_absolute_time(); + hil_global_position_groundtruth.lat = hil_gps.lat / 1e7; + hil_global_position_groundtruth.lon = hil_gps.lon / 1e7; + hil_global_position_groundtruth.alt = hil_gps.alt / 1e3f; + _gpos_groundtruth_pub.publish(hil_global_position_groundtruth); + } } else { sensor_gps_s gps{}; @@ -2688,19 +2697,6 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) * fields (mmE3) with east in LAT, north in LON, up in ALT *[TODO create a new mavlink msg maybe called HIL_POSE_INFO for this] */ - - if (!_hil_pos_ref.isInitialized()) { - if (!_param_hitl_use_sim_home.get() || _hitl_sim_gps_time_usec) { - _hil_pos_ref.initReference(_param_hitl_use_sim_home.get() ? _hitl_sim_home_lat : (double)_param_hitl_home_lat.get(), - _param_hitl_use_sim_home.get() ? _hitl_sim_home_lon : (double)_param_hitl_home_lon.get(), - hrt_absolute_time()); - - } else { - // no reference set yet - return; - } - } - vehicle_local_position_s hil_local_position_groundtruth{}; hil_local_position_groundtruth.timestamp_sample = timestamp_sample; @@ -2731,29 +2727,11 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) _hil_pos_ref.getProjectionReferenceLat(); // Reference point latitude in degrees hil_local_position_groundtruth.ref_lon = _hil_pos_ref.getProjectionReferenceLon(); // Reference point longitude in degrees - hil_local_position_groundtruth.ref_alt = _param_hitl_use_sim_home.get() ? static_cast(_hitl_sim_home_alt) : - _param_hitl_home_alt.get(); + hil_local_position_groundtruth.ref_alt = _hil_alt_ref; // Reference altitude AMSL in meters hil_local_position_groundtruth.ref_timestamp = _hil_pos_ref.getProjectionReferenceTimestamp(); hil_local_position_groundtruth.timestamp = hrt_absolute_time(); _lpos_groundtruth_pub.publish(hil_local_position_groundtruth); - - if (_hil_pos_ref.isInitialized()) { - /* publish position groundtruth */ - vehicle_global_position_s hil_global_position_groundtruth{}; - - hil_global_position_groundtruth.timestamp_sample = hrt_absolute_time(); - - _hil_pos_ref.reproject(hil_local_position_groundtruth.x, - hil_local_position_groundtruth.y, - hil_global_position_groundtruth.lat, - hil_global_position_groundtruth.lon); - - hil_global_position_groundtruth.alt = (_param_hitl_use_sim_home.get() ? static_cast(_hitl_sim_home_alt) : - _param_hitl_home_alt.get()) - static_cast(position(2)); - hil_global_position_groundtruth.timestamp = hrt_absolute_time(); - _gpos_groundtruth_pub.publish(hil_global_position_groundtruth); - } } #if !defined(CONSTRAINED_FLASH) diff --git a/src/modules/mavlink/mavlink_receiver.h b/src/modules/mavlink/mavlink_receiver.h index 8c6946fdb346..7a2a04e70206 100644 --- a/src/modules/mavlink/mavlink_receiver.h +++ b/src/modules/mavlink/mavlink_receiver.h @@ -374,11 +374,7 @@ class MavlinkReceiver : public ModuleParams matrix::Vector3d _hil_velocity_prev{}; matrix::Vector3f _hil_euler_prev{}; MapProjection _hil_pos_ref{}; - - uint64_t _hitl_sim_gps_time_usec{0}; - double _hitl_sim_home_lat{0.0}; - double _hitl_sim_home_lon{0.0}; - double _hitl_sim_home_alt{0.0}; + double _hil_alt_ref{}; // Allocated if needed. TunePublisher *_tune_publisher{nullptr}; @@ -406,11 +402,7 @@ class MavlinkReceiver : public ModuleParams DEFINE_PARAMETERS( (ParamFloat) _param_bat_crit_thr, (ParamFloat) _param_bat_emergen_thr, - (ParamFloat) _param_bat_low_thr, - (ParamBool) _param_hitl_use_sim_home, - (ParamFloat) _param_hitl_home_lat, - (ParamFloat) _param_hitl_home_lon, - (ParamFloat) _param_hitl_home_alt + (ParamFloat) _param_bat_low_thr ); // Disallow copy construction and move assignment. diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp index f629fd6dd72d..19d75db8e298 100644 --- a/src/modules/simulation/gz_bridge/GZBridge.cpp +++ b/src/modules/simulation/gz_bridge/GZBridge.cpp @@ -104,6 +104,12 @@ int GZBridge::init() model_pose_v.push_back(0.0); } + // If model position z is less equal than 0, move above floor to prevent floor glitching + if (model_pose_v[2] <= 0.0) { + PX4_INFO("Model position z is less or equal 0.0, moving upwards"); + model_pose_v[2] = 0.5; + } + gz::msgs::Pose *p = req.mutable_pose(); gz::msgs::Vector3d *position = p->mutable_position(); position->set_x(model_pose_v[0]); @@ -238,7 +244,7 @@ int GZBridge::task_spawn(int argc, char *argv[]) int ch; const char *myoptarg = nullptr; - while ((ch = px4_getopt(argc, argv, "w:m:p:i:n:v:", &myoptind, &myoptarg)) != EOF) { + while ((ch = px4_getopt(argc, argv, "w:m:p:i:n:", &myoptind, &myoptarg)) != EOF) { switch (ch) { case 'w': // world @@ -553,19 +559,6 @@ void GZBridge::poseInfoCallback(const gz::msgs::Pose_V &pose) vehicle_angular_velocity_groundtruth.timestamp = hrt_absolute_time(); _angular_velocity_ground_truth_pub.publish(vehicle_angular_velocity_groundtruth); - if (!_pos_ref.isInitialized()) { - if (!_param_use_sim_home.get() || _gz_sim_gps_time_usec) { - _pos_ref.initReference(_param_use_sim_home.get() ? _gz_home_lat : (double)_param_sim_home_lat.get(), - _param_use_sim_home.get() ? _gz_home_lon : (double)_param_sim_home_lon.get(), - hrt_absolute_time()); - - } else { - // no reference set yet - pthread_mutex_unlock(&_node_mutex); - return; - } - } - vehicle_local_position_s local_position_groundtruth{}; #if defined(ENABLE_LOCKSTEP_SCHEDULER) local_position_groundtruth.timestamp_sample = time_us; @@ -592,33 +585,27 @@ void GZBridge::poseInfoCallback(const gz::msgs::Pose_V &pose) local_position_groundtruth.heading = euler.psi(); - local_position_groundtruth.ref_lat = _pos_ref.getProjectionReferenceLat(); // Reference point latitude in degrees - local_position_groundtruth.ref_lon = _pos_ref.getProjectionReferenceLon(); // Reference point longitude in degrees - local_position_groundtruth.ref_alt = _param_use_sim_home.get() ? static_cast(_gz_home_alt) : - _param_sim_home_alt.get(); - local_position_groundtruth.ref_timestamp = _pos_ref.getProjectionReferenceTimestamp(); - - local_position_groundtruth.timestamp = hrt_absolute_time(); - _lpos_ground_truth_pub.publish(local_position_groundtruth); - if (_pos_ref.isInitialized()) { - // publish position groundtruth - vehicle_global_position_s global_position_groundtruth{}; -#if defined(ENABLE_LOCKSTEP_SCHEDULER) - global_position_groundtruth.timestamp_sample = time_us; -#else - global_position_groundtruth.timestamp_sample = hrt_absolute_time(); -#endif - _pos_ref.reproject(local_position_groundtruth.x, local_position_groundtruth.y, - global_position_groundtruth.lat, global_position_groundtruth.lon); + local_position_groundtruth.ref_lat = _pos_ref.getProjectionReferenceLat(); // Reference point latitude in degrees + local_position_groundtruth.ref_lon = _pos_ref.getProjectionReferenceLon(); // Reference point longitude in degrees + local_position_groundtruth.ref_alt = _alt_ref; + local_position_groundtruth.ref_timestamp = _pos_ref.getProjectionReferenceTimestamp(); + local_position_groundtruth.xy_global = true; + local_position_groundtruth.z_global = true; - global_position_groundtruth.alt = (_param_use_sim_home.get() ? static_cast(_gz_home_alt) : - _param_sim_home_alt.get()) - static_cast(position(2)); - global_position_groundtruth.timestamp = hrt_absolute_time(); - _gpos_ground_truth_pub.publish(global_position_groundtruth); + } else { + local_position_groundtruth.ref_lat = static_cast(NAN); + local_position_groundtruth.ref_lon = static_cast(NAN); + local_position_groundtruth.ref_alt = NAN; + local_position_groundtruth.ref_timestamp = 0; + local_position_groundtruth.xy_global = false; + local_position_groundtruth.z_global = false; } + local_position_groundtruth.timestamp = hrt_absolute_time(); + _lpos_ground_truth_pub.publish(local_position_groundtruth); + pthread_mutex_unlock(&_node_mutex); return; } @@ -627,23 +614,6 @@ void GZBridge::poseInfoCallback(const gz::msgs::Pose_V &pose) pthread_mutex_unlock(&_node_mutex); } -void GZBridge::navSatCallback(const gz::msgs::NavSat &nav_sat) -{ - if (hrt_absolute_time() == 0 || _pos_ref.isInitialized()) { - return; - } - - pthread_mutex_lock(&_node_mutex); - - // initialize gz gps position - _gz_sim_gps_time_usec = (nav_sat.header().stamp().sec() * 1000000) + (nav_sat.header().stamp().nsec() / 1000); - _gz_home_lat = nav_sat.latitude_deg(); - _gz_home_lon = nav_sat.longitude_deg(); - _gz_home_alt = nav_sat.altitude(); - - pthread_mutex_unlock(&_node_mutex); -} - void GZBridge::odometryCallback(const gz::msgs::OdometryWithCovariance &odometry) { if (hrt_absolute_time() == 0) { @@ -720,6 +690,42 @@ void GZBridge::odometryCallback(const gz::msgs::OdometryWithCovariance &odometry pthread_mutex_unlock(&_node_mutex); } +void GZBridge::navSatCallback(const gz::msgs::NavSat &nav_sat) +{ + if (hrt_absolute_time() == 0) { + return; + } + + pthread_mutex_lock(&_node_mutex); + + const uint64_t time_us = (nav_sat.header().stamp().sec() * 1000000) + (nav_sat.header().stamp().nsec() / 1000); + + if (time_us > _world_time_us.load()) { + updateClock(nav_sat.header().stamp().sec(), nav_sat.header().stamp().nsec()); + } + + // initialize gps position + if (!_pos_ref.isInitialized()) { + _pos_ref.initReference(nav_sat.latitude_deg(), nav_sat.longitude_deg(), hrt_absolute_time()); + _alt_ref = nav_sat.altitude(); + + } else { + // publish GPS groundtruth + vehicle_global_position_s global_position_groundtruth{}; +#if defined(ENABLE_LOCKSTEP_SCHEDULER) + global_position_groundtruth.timestamp_sample = time_us; +#else + global_position_groundtruth.timestamp_sample = hrt_absolute_time(); +#endif + global_position_groundtruth.lat = nav_sat.latitude_deg(); + global_position_groundtruth.lon = nav_sat.longitude_deg(); + global_position_groundtruth.alt = nav_sat.altitude(); + _gpos_ground_truth_pub.publish(global_position_groundtruth); + } + + pthread_mutex_unlock(&_node_mutex); +} + void GZBridge::updateCmdVel() { bool do_update = false; @@ -856,4 +862,4 @@ int GZBridge::print_usage(const char *reason) extern "C" __EXPORT int gz_bridge_main(int argc, char *argv[]) { return GZBridge::main(argc, argv); -} +} \ No newline at end of file diff --git a/src/modules/simulation/gz_bridge/GZBridge.hpp b/src/modules/simulation/gz_bridge/GZBridge.hpp index d9362cd2b9a6..dd9fe29e060f 100644 --- a/src/modules/simulation/gz_bridge/GZBridge.hpp +++ b/src/modules/simulation/gz_bridge/GZBridge.hpp @@ -147,6 +147,7 @@ class GZBridge : public ModuleBase, public ModuleParams, public px4::S pthread_mutex_t _node_mutex; MapProjection _pos_ref{}; + double _alt_ref{}; // starting altitude reference matrix::Vector3d _position_prev{}; matrix::Vector3d _velocity_prev{}; @@ -164,22 +165,7 @@ class GZBridge : public ModuleBase, public ModuleParams, public px4::S float _temperature{288.15}; // 15 degrees - uint64_t _gz_sim_gps_time_usec{0}; - - double _gz_home_lat{0.0}; - - double _gz_home_lon{0.0}; - - double _gz_home_alt{0.0}; - gz::transport::Node::Publisher _cmd_vel_pub; gz::transport::Node _node; - - DEFINE_PARAMETERS( - (ParamBool) _param_use_sim_home, - (ParamFloat) _param_sim_home_lat, - (ParamFloat) _param_sim_home_lon, - (ParamFloat) _param_sim_home_alt - ) -}; +}; \ No newline at end of file diff --git a/src/modules/simulation/gz_bridge/parameters.c b/src/modules/simulation/gz_bridge/parameters.c index dbd1d2dda542..2cba112baf3e 100644 --- a/src/modules/simulation/gz_bridge/parameters.c +++ b/src/modules/simulation/gz_bridge/parameters.c @@ -47,37 +47,4 @@ PARAM_DEFINE_INT32(SIM_GZ_EN, 0); * @reboot_required true * @group Simulator */ -PARAM_DEFINE_INT32(SIM_GZ_RUN_GZSIM, 1); - -/** - * use simulator origin (home) position - * - * @boolean - * @reboot_required true - * @group Simulator - */ -PARAM_DEFINE_INT32(SIM_GZ_SHOME, 0); - -/** - * simulator origin latitude - * - * @unit deg - * @group Simulator - */ -PARAM_DEFINE_FLOAT(SIM_GZ_HOME_LAT, 47.397742f); - -/** - * simulator origin longitude - * - * @unit deg - * @group Simulator - */ -PARAM_DEFINE_FLOAT(SIM_GZ_HOME_LON, 8.545594); - -/** - * simulator origin altitude - * - * @unit m - * @group Simulator - */ -PARAM_DEFINE_FLOAT(SIM_GZ_HOME_ALT, 488.0); +PARAM_DEFINE_INT32(SIM_GZ_RUN_GZSIM, 1); \ No newline at end of file diff --git a/ssrc_config/config_hitl_eth_gzsim.txt b/ssrc_config/config_hitl_eth_gzsim.txt index 4b06840f372d..0121e0ced2b6 100644 --- a/ssrc_config/config_hitl_eth_gzsim.txt +++ b/ssrc_config/config_hitl_eth_gzsim.txt @@ -8,7 +8,6 @@ # Set HITL related flag param set SYS_HITL 1 -param set MAV_HITL_SHOME 1 param set SENS_EN_GPSSIM 1 param set SENS_EN_BAROSIM 1 param set SENS_EN_MAGSIM 1 diff --git a/ssrc_config/config_hitl_eth_gzsim_fw.txt b/ssrc_config/config_hitl_eth_gzsim_fw.txt index 0ae8d5b584a6..9ae79fdaa53c 100644 --- a/ssrc_config/config_hitl_eth_gzsim_fw.txt +++ b/ssrc_config/config_hitl_eth_gzsim_fw.txt @@ -10,7 +10,6 @@ param set SYS_AUTOCONFIG 0 # Set HITL related flag param set SYS_HITL 1 -param set MAV_HITL_SHOME 1 param set SENS_EN_GPSSIM 1 param set SENS_EN_BAROSIM 1 param set SENS_EN_MAGSIM 1 diff --git a/ssrc_config/config_hitl_eth_gzsim_mc.txt b/ssrc_config/config_hitl_eth_gzsim_mc.txt index c10868f7a034..5ed5e0e67266 100644 --- a/ssrc_config/config_hitl_eth_gzsim_mc.txt +++ b/ssrc_config/config_hitl_eth_gzsim_mc.txt @@ -10,7 +10,6 @@ param set SYS_AUTOCONFIG 0 # Set HITL related flag param set SYS_HITL 1 -param set MAV_HITL_SHOME 1 param set SENS_EN_GPSSIM 1 param set SENS_EN_BAROSIM 1 param set SENS_EN_MAGSIM 1 diff --git a/ssrc_config/config_hitl_eth_gzsim_rover.txt b/ssrc_config/config_hitl_eth_gzsim_rover.txt index c4eacaade6f9..a459d2c1aaaf 100644 --- a/ssrc_config/config_hitl_eth_gzsim_rover.txt +++ b/ssrc_config/config_hitl_eth_gzsim_rover.txt @@ -10,7 +10,6 @@ param set SYS_AUTOCONFIG 0 # Set HITL related flag param set SYS_HITL 1 -param set MAV_HITL_SHOME 1 param set SENS_EN_GPSSIM 1 param set SENS_EN_BAROSIM 1 param set SENS_EN_MAGSIM 1 diff --git a/ssrc_config/config_hitl_eth_gzsim_vtol_sm.txt b/ssrc_config/config_hitl_eth_gzsim_vtol_sm.txt index 414ece3fcd2e..1093870464a7 100644 --- a/ssrc_config/config_hitl_eth_gzsim_vtol_sm.txt +++ b/ssrc_config/config_hitl_eth_gzsim_vtol_sm.txt @@ -10,7 +10,6 @@ param set SYS_AUTOCONFIG 0 # Set HITL related flag param set SYS_HITL 1 -param set MAV_HITL_SHOME 1 param set SENS_EN_GPSSIM 1 param set SENS_EN_BAROSIM 1 param set SENS_EN_MAGSIM 1 diff --git a/ssrc_config/config_hitl_eth_gzsim_vtol_sv.txt b/ssrc_config/config_hitl_eth_gzsim_vtol_sv.txt index ec3f924a90f1..fd6782354c37 100644 --- a/ssrc_config/config_hitl_eth_gzsim_vtol_sv.txt +++ b/ssrc_config/config_hitl_eth_gzsim_vtol_sv.txt @@ -10,7 +10,6 @@ param set SYS_AUTOCONFIG 0 # Set HITL related flag param set SYS_HITL 1 -param set MAV_HITL_SHOME 1 param set SENS_EN_GPSSIM 1 param set SENS_EN_BAROSIM 1 param set SENS_EN_MAGSIM 1