Gazebo: add MiniHawk-VTOL

[srmainwaring]

Gazebo model for Stephen Carlson's MiniHawk-VTOL

Usage

Gazebo and the plugins should be installed as per the ArduPilot Gazebo Plugin instructions.

Update the GZ_SIM_RESOURCE_PATH to include these models:

export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:\
$HOME/SITL_Models/Gazebo/models:\
$HOME/SITL_Models/Gazebo/worlds

Run Gazebo

gz sim -v4 -r minihawk_runway.sdf

Run ArduPilot SITL

sim_vehicle.py -v ArduPlane -f JSON --add-param-file=$HOME/SITL_Models/Gazebo/config/minihawk_vtol.param --console --map

Tasks

• [ ] Improve forward transition.
• [ ] Add correct lift coefficients for MH45 airfoil.