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3DR Solo Quadcopter Digital Twin for GymFC

This digital twin is meant to serve as an example for the new GymFC architecture used in versions v0.2+.

It uses a port of the PX4 SITL Gazebo plugins and the PX4 SITL Solo models. The Iris quadcopter initially used by GymFC has not been ported to the new plugins, thus the Solo model is being substituted as an example.

The new GymFC architecture allows for each digital twin to be version controlled.

Note: This is all very experimental, the PX4 motor models are still in development. We require additional documentation and validation on the affects of these models.

Configuration File

Each digital twin is defined by its configuration file.

Instructions

  1. Clone and build the GymFC Aircraft Plugins repo.
  2. Rename solo.json.template to solo.json.
  3. Set model_dir to "[path to this repo]/models"
  4. Set model to "[path to this repo]/models/solo/model.sdf"
  5. Set plugin_dir to "[path to GymFC Aircraft Plugins repo]/build"