Gazebo Harmonic Plugin to tune the Multicopter velocity controller

Still work in progress! Works very limited"

Made for Ubuntu 22.04 and Gazebo Harmonic

Build and source the gui plugin

Build the gui tuning plugin

cd tuning_gui
mkdir build
cd build
cmake ..
make

Source it from the same build folder or use the absolutele path

export GZ_GUI_PLUGIN_PATH=`pwd`

Build and source the multicopter control tunable plugin

Build the gui multicopter control tunable plugin

cd multicopter_control_tunable
mkdir build
cd build
cmake ..
make 

Source it from the same build folder or use the absolutele path

export GZ_SIM_SYSTEM_PLUGIN_PATH=`pwd`

Add multicopter plugin to sdf file

Replace the regular MulticopterControl with

<plugin filename="MulticopterControlTunable" name="gz::sim::v8::systems::MulticopterVelocityControlTunable">

Run the sim with

gz sim -v 4 -r YOURCOPTER.sdf

Make sure that the plugins of above are sourced in the same terminal

Change the standard tuning values

This plugin was used to tune the crazyflie model of which the source file can be found here: https://github.com/bitcraze/crazyflie-simulation/blob/main/simulator_files/gazebo/crazyflie/model.sdf

If you are using a different model, You'll need to change the tuning values in 'TuningPlugin.qml' 'TuningPlugin.hh' and 'MulticopterVelocityControlTunable.hh' to align with the lee controller variables in your sdf. It's a bit dirty but I wrote these plugins just to tune something quickly.