Custom simulation modes and worlds

Extend the Gazebo-powered simulation with customized vehicles and personalized environments

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This feature is available since virtual FMU 1.7.0

Testing new vehicles configurations and simulation environments with various airframes might result in the need to create a custom vehicle to spawn in gazebo (e.g. for a not yet exposed airframe), a new world to run or a new predefined location to use. Therefore, the UI exposed configuration (config_options.json) can be modified on your simulated vehicle via ssh. To do so, make:

ssh [email protected]
mountrw
nano /data/app/com.auterion.virtual-fmu/data/config_options.json

Then change as you desire and run

auterion-cli app restart com.auterion.virtual-fmu

to apply the changes.

Possible changes could e.g. be new/other airframes or gazebo models to use, like:

    "options": [
...
        {
            "sim_mode": "gz",
            "model_name": "Fixed-Wing",
            "config": {
-                "PX4_SIM_MODEL": "gz_rc_cessna",
+                "PX4_SIM_MODEL": "gz_my_rc_cessna",
                "PX4_SYS_AUTOSTART": "4003"
            }
        }
    ],

Or custom presets for start locations like:

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