Andrew Tridgell
dd3218c913
pysim: ensure Vector3() uses floats
2012-03-29 12:39:53 +11:00
Andrew Tridgell
0b94b2e470
pysim: implement partial 3D acceleration support
...
The simulator flies very badly when using the full acceleration
code. I don't yet know if this is a bug in the simulation or a problem
with AHRS not handling acceleration for multicopters.
For now set the acceleration to be half a 'pure gravity' acceleration
and half from the full 3D calculation.
2012-03-23 16:48:52 +11:00
Andrew Tridgell
c020030620
pysim: added experimental acceleration support
2012-03-23 16:48:52 +11:00
Andrew Tridgell
ccfac19cef
pysim: update the multicopter simulator with correct acceleration
...
this re-works the multicopter simulator in terms of rotation matrices,
and adds full acceleration support, which means it will include linear
acceleration affects and centripetal acceleration
2012-03-22 23:00:45 +11:00
Andrew Tridgell
21c8351f2f
pysim: added rotmat.py
...
this is a python library for rotation matrices, following the
conventions in AP_Math
2012-03-22 23:00:45 +11:00
Andrew Tridgell
491def2b7e
autotest: fixed the declination to match new compass
...
we now use the declination for Canberra
2012-03-21 10:41:55 +11:00
Andrew Tridgell
506b91a587
autotest: run fg viewers with less CPU priority
2012-03-10 10:34:27 +11:00
Andrew Tridgell
65b26619d4
autotest: added CMAC test circuit
...
this is what I am using for noise testing
2012-03-10 10:34:27 +11:00
Andrew Tridgell
af0765bb0a
autotest: fixed xAccel calculation in fakepos.py
2012-02-25 11:37:20 +11:00
Jason Short
9eea6a6c46
Better throttle for tests
2012-02-19 15:06:54 -08:00
Jason Short
7a60f33874
SIMPLE mode throttle fix
2012-02-19 14:21:27 -08:00
Andrew Tridgell
9f79455ecc
autotest: fixed check of return code for build_all.sh
2012-02-20 09:17:08 +11:00
Andrew Tridgell
aaab500fe3
autotest: fixed directory for build_all.sh
2012-02-20 08:41:40 +11:00
Jason Short
9169fe2bfe
AP TEST fixes for new throttle control
2012-02-19 12:38:57 -08:00
Andrew Tridgell
982e6f22c3
autotest: lower throttle level for lowering altitude in loiter
...
we were not dropping altitude in the change_alt test
2012-02-19 23:21:09 +11:00
Andrew Tridgell
1e9f53cc44
autotest: fixed failsafe test
...
increased timeout, added check for home location, and fixed failure
testing on timeout
2012-02-19 22:52:09 +11:00
Andrew Tridgell
470ced9aad
autotest: added build_all.sh to autotest
2012-02-19 17:05:28 +11:00
Andrew Tridgell
455f1a8093
autotest: removed the pitch trim from the Rascal
...
This interferes with the calculation of the centripetal acceleration
calculation in the DCM code. We need a new way of handling pitch trim
2012-02-18 19:27:15 +11:00
Andrew Tridgell
5652ccd3c6
autotest: fixed the calculation of the acceleration due to gravity
...
this fixes the attitude calculation for the multicopter simulation
2012-02-18 19:27:15 +11:00
Andrew Tridgell
a4663c4b20
autotest: increase the rudder gain
...
this gives a bit better landing approach and turns in auto
2012-02-15 08:50:45 +11:00
Andrew Tridgell
b166fbff5a
autotest: use more rudder for steering
...
this helps the landing a lot
2012-02-14 15:16:35 +11:00
Andrew Tridgell
6b33e48514
autotest: raise the target airspeed on landing
...
we were stalling the plane in the final meters of the approach
2012-02-14 12:30:46 +11:00
Andrew Tridgell
27fd4ca213
autotest: adjusted APM parameters
...
enable compass and tweak tuning
2012-02-14 11:26:42 +11:00
Andrew Tridgell
c105645c57
autotest: added a lot more interal checking
...
check each of the sub-tests pass for overall pass
2012-02-14 11:26:42 +11:00
Andrew Tridgell
2f1f5f14f5
autotest: fixed the directory that the git hash is fetched in
2012-02-14 09:06:24 +11:00
Andrew Tridgell
d4572e841c
autotest: fixed displayed git hash in autotest
2012-02-13 20:29:55 +11:00
Andrew Tridgell
6b8b3e2287
autotest: fixed git hash parsing
2012-02-13 18:02:35 +11:00
Andrew Tridgell
131861b629
make it easy to run simulator under valgrind
2012-02-13 16:22:53 +11:00
Jason Short
a1ac330077
to speed up testing suite
2012-01-28 22:52:39 -08:00
Jason Short
0bf594483f
Landing now disarms automatically.
2012-01-28 22:52:17 -08:00
Jason Short
1e1e36e649
Tweaks
2012-01-10 23:43:44 -08:00
Jason Short
56de5d58c5
Added altitude
2012-01-10 23:42:26 -08:00
Jason Short
9cbfcac802
Made timer unsigned
2012-01-10 23:42:26 -08:00
Andrew Tridgell
6245ce935d
autotest: cope with startup messages in a different order
2012-01-09 18:09:04 +11:00
Andrew Tridgell
8af708b165
autotest: make history pages use the css style
2012-01-09 18:09:04 +11:00
Jason Short
b1341011a0
updated throttle to keep altitude
2012-01-07 22:27:25 -08:00
Jason Short
4638bb6ea4
enabled failsafe on SIM parameters
2012-01-06 10:22:26 -08:00
Jason Short
efb6305b03
Added failsafe test
2012-01-06 10:22:13 -08:00
Jason Short
7ecddc1cb8
Added RTL with Auto_land test
...
Fixed Simple Mode test
2012-01-05 22:13:20 -08:00
Jason Short
782fbc2d38
thought the commented out function was too cool to loose, but not using it now
...
changed the WP index number
2012-01-04 09:52:25 -08:00
Jason Short
827955dc6e
Looking for larger than 255 numbers
2012-01-04 09:51:36 -08:00
Andrew Tridgell
9833636500
pysim: support octax
2012-01-04 22:15:17 +11:00
Andrew Tridgell
b9b0aa4a81
autotest: change to an octa frame for autotest
...
this will be a useful experiment
2012-01-04 22:03:37 +11:00
Andrew Tridgell
45efb174e5
autotest: fix for new sim_multicopter.py command
2012-01-04 21:49:19 +11:00
Andrew Tridgell
5317e47e2d
pysim: added more frame types
2012-01-04 21:45:58 +11:00
Andrew Tridgell
1da04837ca
pysim: accept frame type in sim_arducopter.sh
2012-01-04 19:34:28 +11:00
Andrew Tridgell
e4ae5ffd0e
pysim: show frame type at startup
2012-01-04 19:34:11 +11:00
Andrew Tridgell
f395e8e36d
rename sim_quad.py to sim_multicopter.py
2012-01-04 19:14:42 +11:00
Andrew Tridgell
bc49573b4c
pysim: added --frame option
2012-01-04 19:13:47 +11:00
Andrew Tridgell
f4d7e108fa
pysim: generalise the quadcopter code for multicopters
...
this allows for arbitrary multicopter motor arrangements
2012-01-04 19:13:15 +11:00