Custom simulation modes / worlds

Testing new vehicles configurations and simulation environments with various airframes might result in the need to create a custom UI settings. Therefore, the UI exposed configuration can be modified

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:

    "environments":[
...
        {
            "name": "Baylands",
            "world": "baylands",
            "preset_locations": [
                {
                    "name": "Open field runway",
                    "position": [300, 0, 0.01],
                    "orientation": [0, 0, 0]
                }
+                {
+                    "name": "My new location",
+                    "position": [10, 10, 0.01],
+                    "orientation": [0, 0.1, 0]
+                }
            ]
        },