Why define gyro's data as acceleration and gps's second part as altitude

[dzywater]

https://github.com/cyberbotics/webots_ros2/blob/f5f33a9035bf3a1152a9f9df4e1001d5db3375dd/webots_ros2_mavic/webots_ros2_mavic/mavic_driver.py #L82 and https://github.com/cyberbotics/webots/blob/5c3c33470190fad062591e6f681c7967982c070f/projects/robots/dji/mavic/controllers/mavic2pro/mavic2pro.c #L116 define gyro's data as acceleration, but actually velocity, as descriped at https://www.cyberbotics.com/doc/reference/gyro?tab-language=c#wb_gyro_get_values

https://github.com/cyberbotics/webots/blob/5c3c33470190fad062591e6f681c7967982c070f/projects/robots/dji/mavic/controllers/mavic2pro/mavic2pro.c #L115 define gps's second part as altitude, but longitude, as descriped at https://www.cyberbotics.com/doc/reference/gps?tab-language=c#wb_gps_get_values

[lukicdarkoo]

https://github.com/cyberbotics/webots/blob/5c3c33470190fad062591e6f681c7967982c070f/projects/robots/dji/mavic/controllers/mavic2pro/mavic2pro.c #L115 define gps's second part as altitude, but longitude, as descriped at https://www.cyberbotics.com/doc/reference/gps?tab-language=c#wb_gps_get_values

In ENU, the third value is altitude.

https://github.com/cyberbotics/webots_ros2/blob/f5f33a9035bf3a1152a9f9df4e1001d5db3375dd/webots_ros2_mavic/webots_ros2_mavic/mavic_driver.py #L82 and https://github.com/cyberbotics/webots/blob/5c3c33470190fad062591e6f681c7967982c070f/projects/robots/dji/mavic/controllers/mavic2pro/mavic2pro.c #L116 define gyro's data as acceleration, but actually velocity, as descriped at https://www.cyberbotics.com/doc/reference/gyro?tab-language=c#wb_gyro_get_values

This is inherited from https://github.com/cyberbotics/webots/blob/master/projects/robots/dji/mavic/controllers/mavic2pro/mavic2pro.c, we should probably fix it.

[dzywater]

@lukicdarkoo , I suggested to add webots simulation on https://github.com/PX4/PX4-Autopilot/issues/18221. Do you have any advice ?

[lukicdarkoo]

@lukicdarkoo , I suggested to add webots simulation on PX4/PX4-Autopilot#18221. Do you have any advice ?

That would be lovely, but I am not sure whether it's our priority right now. Could you please create an issue in the webots repository?

BTW, there is already an ArduPilot integration: https://ardupilot.org/dev/docs/sitl-with-webots.html

[lukicdarkoo]

Does PX4 depend on ROS? I see some launch files there, but I thought PX4 is standalone.

[dzywater]

PX4 is standalone. It can communicate with the external by (1)MAVLink protocol, e.g MAVSDK(a high-level API to MAVLink) (2)MicroRTPS, a type of DDS (3)ROS or ROS2, but this way is still by MicroRTPS (4)MAVROS, similar with webots_ros2 principle MAVLink and MAVROS are general and can be used for PX4 and ArduPilot. See: https://github.com/mavlink/mavros/issues/1369 I knew ArduPilot webots simulation. I aslo want to have PX4 webots simulatio.

[halil93ibrahim]

That would be lovely, but I am not sure whether it's our priority right now. Could you please create an issue in the webots repository?

Hi, is there any progress on PX4 SITL in Webots? I cannot see the issue has been created.