Gazebo: Add Pik-20B sailplane

[srmainwaring]

A Pik-20B sailplane (full scale).

Parameters

The vehicle uses the default parameters for ArduPlane with the following modifications based on an
autotune of the roll and pitch axes and a manual configuration of the TECS parameters
(with no airspeed sensor). It is suitable for all modes.

Parameter        Current  Default
TKOFF_TDRAG_ELEV 100.000000 0.000000
TKOFF_TDRAG_SPD1 10.000000 0.000000
TKOFF_ROTATE_SPD 25.000000 0.000000
TKOFF_THR_SLEW   10.000000 0.000000
ARSPD_FBW_MIN    28.000000 9.000000
ARSPD_FBW_MAX    60.000000 22.000000
TRIM_THROTTLE    40.000000 45.000000
LIM_ROLL_CD      6000.000000 4500.000000
LIM_PITCH_MAX    1600.000000 2000.000000
LIM_PITCH_MIN    -3000.000000 -2500.000000
ACRO_ROLL_RATE   90.000000 180.000000
ACRO_PITCH_RATE  90.000000 180.000000
ACRO_YAW_RATE    90.000000 0.000000
TRIM_ARSPD_CM    4400.0000 1200.000000
SCALING_SPEED    44.000000 15.000000
TRIM_PITCH_CD    100.000000 0.000000
ARMING_RUDDER    0.000000 1.000000 # Disabled (DEFAULT: ArmingOnly)
RLL_RATE_P       0.406230 0.080000
RLL_RATE_I       0.406230 0.150000
RLL_RATE_D       0.014926 0.000000
RLL_RATE_FF      1.097314 0.345000
RLL_RATE_FLTT    3.183099 3.000000
RLL_RATE_FLTD    10.000000 12.000000
PTCH2SRV_TCONST  0.750000 0.500000
PTCH2SRV_RMAX_UP 75.000000 0.000000
PTCH2SRV_RMAX_DN 75.000000 0.000000
PTCH2SRV_RLL     0.350000 1.000000
PTCH_RATE_P      0.649316 0.040000
PTCH_RATE_I      2.388867 0.150000
PTCH_RATE_D      0.018863 0.000000
PTCH_RATE_FF     2.388867 0.345000
PTCH_RATE_FLTT   2.122066 3.000000
PTCH_RATE_FLTD   10.000000 12.000000
YAW_RATE_ENABLE  1.000000 0.000000
NAVL1_PERIOD     10.000000 17.000000
TECS_LAND_ARSPD  30.000000 -1.000000
TECS_LAND_THR    0.000000 -1.000000
TECS_LAND_SINK   1.000000 0.250000
SERVO1_MIN       1000.000000 1100.000000
SERVO1_MAX       2000.000000 1900.000000
SERVO2_MIN       1000.000000 1100.000000
SERVO2_MAX       2000.000000 1900.000000
SERVO3_MIN       1000.000000 1100.000000
SERVO3_MAX       2000.000000 1900.000000
SERVO4_MIN       1000.000000 1100.000000
SERVO4_MAX       2000.000000 1900.000000
ARSPD_TYPE       0.000000 2.000000 # None (DEFAULT: Analog)

Usage

Gazebo:

gz sim -v4 -r sailplane_runway.sdf

SITL:

sim_vehicle.py -N -D -v ArduPlane -f JSON --console

Follow camera:

gz service -s /gui/follow/offset --reqtype gz.msgs.Vector3d --reptype gz.msgs.Boolean --timeout 2000 --req "x: 60, y: 10, z: 7"
data: true

Figure: takeoff in FBWA mode

Figure: AUTO mode

Links

• https://en.wikipedia.org/wiki/Eiri-Avion_PIK-20
• https://aeropedia.com.au/content/eiriavion-pik-20e/
• https://www.gliding.co.uk/wp-content/uploads/sites/3/2015/04/Pik-20B-BGA-data-sheet.pdf
• https://www.traficom.fi/en/pik-20-support?toggle=EASA%20SAS%20documents&toggle=PIK-20%20ja%20PIK-20B%3A%20Manuals
• https://www.traficom.fi/sites/default/files/media/file/25420-PIK-20-E_Flight_Manual.pdf

Credits

Original CAD model used with kind permission by Aki Suokas.

• https://grabcad.com/library/pik-20b-sailplane-1