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239 Commits

Author SHA1 Message Date
Andy Piper ab64480d2b SITL: add spin armed rpm 2022-09-07 17:03:03 +01:00
Andrew Tridgell 6b55073508 SITL: added SIM_VIB_MOT_HMNC parameter 2022-07-03 18:47:33 +10:00
Peter Barker 73190d075a SITL: add support for SIM_OH_MASK (sim-on-hardware output enable mask 2022-05-24 10:35:32 +10:00
Andrew Tridgell 2dea725d80 SITL: fixed up airspeed parameters 
use a separate airspeed structure and separate ratio per sensor
 2022-05-17 19:34:32 +10:00
Peter Barker 7d10192550 SITL: do not write post locations files unless on HAL_BOARD_SITL 
Nobody's going to be retrieving these from SD card so they can visualise
things...
 2022-04-25 11:20:26 +10:00
Peter Barker 348f0ad590 SITL: add SIM_SONAR_ROT, use it for measuring horizontal distances 2022-04-19 10:26:10 +10:00
Peter Barker b360521d0b SITL: permit double-precision maths in SITL even on embedded hardware 2022-03-17 14:39:55 +11:00
Peter Barker 2e809282e7 SITL: split AP_HAL_SITL and AP_SIM_ENABLED 2022-03-17 14:39:55 +11:00
Peter Barker 4dfc9494ef SITL: correct compilation if INS_TEMPERATURE_CAL_ENABLE is off 2022-02-08 10:44:01 +11:00
Peter Barker 8782e21443 SITL: do not compile SIM_GPS parameters in if SIM_GPS not enabled 2022-01-25 19:28:06 +11:00
Andrew Tridgell df30d4e723 SITL: support interpolated GPS lag 
use SIM_GPS_LAG_MS and SIM_GPS2_LAG_MS for the lag in milliseconds
 2022-01-12 07:54:46 +11:00
Peter Barker 59bda177ff SITL: cope with fewer than three INS_MAX_INSTANCEs 2021-11-02 09:38:59 +11:00
Peter Barker 581629b332 SITL: make Ship simulator optional 2021-11-01 21:34:04 +11:00
Peter Barker 6c16da21c5 SITL: make simulated GPS work as a SerialDevice 2021-10-21 12:09:21 +11:00
Peter Barker 8ffbddd6ec SITL: correct compilation when MAX_CONNECTED_MAGS is reduced 
For example, when building AP_Periph with reduced mag count
 2021-10-20 19:43:47 +11:00
Tatsuya Yamaguchi f3173174f3 SITL: cope with BARO_MAX_INSTANCES < 3 2021-09-29 10:51:14 +10:00
Josh Henderson e8dcdd60c5 SITL: param use baro temp_board_offset instead of temp_flight 2021-08-24 09:55:01 +10:00
Peter Barker 97057a1350 SITL: add simulated FETtec ESC 2021-08-13 16:22:37 +10:00
bugobliterator 3033589fca SITL: change class name from SITL::SITL to SITL::SIM 2021-08-05 07:25:31 +10:00
Iampete1 41c167ba89 SITL: add SIM_JSON_MASTER param 2021-08-03 09:22:19 +10:00
Andrew Tridgell cf149a9d18 SITL: added SIM_INIT_LAT_OFS and SIM_INIT_LON_OFS 
these give an initial lat/lon offset to the GPS in SITL so we can end
up with an origin a long way from the final position
 2021-06-24 21:34:30 +10:00
Andy Piper 15fe14289d SITL: add SIM_ESC_TELEM 2021-05-12 17:01:11 +10:00
Iampete1 0c3aa72158 SITL: add direct actuated wing to sailboat sim 2021-04-28 08:22:47 +01:00
Michael Oborne 323cbe47d2 SITL: fixup SIM_BAR parameter descriptions 
Co-authored-by: Randy Mackay <rmackay9@yahoo.com>

this fixs a issue with MP param doc parser caused by a syntax change
 2021-04-16 09:21:44 +09:00
Philippe Hamelin 187549b431 SITL: Add NMEA THS message. 2021-04-14 17:20:28 +10:00
Peter Barker 27c262b037 SITL: add documentation fo rsimulated barometers 2021-04-10 11:28:22 +10:00
Patrick José Pereira 07c3435f9d SITL: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Andrew Tridgell 7292b4f260 SITL: added SIM_ACC_TRIM_{X,Y,Z} for simulating IMU trim 
this will enable an autotest for AHRS trim
 2021-01-25 16:24:50 +11:00
Andrew Tridgell 9febcc0f98 SITL: added accel scaling parameters 2021-01-21 13:09:21 +11:00
Andrew Tridgell b5089580a9 SITL: cleanup IMU parameters 
allow for biases per IMU
 2021-01-21 13:09:21 +11:00
Andrew Tridgell c0ba7c29ca SITL: use TCal class for temp adjustment in SITL 2021-01-21 13:09:21 +11:00
Pierre Kancir c1f1208c89 SITL: add support for SIM_STATE msg 2021-01-19 10:40:43 +11:00
Andrew Tridgell b7f68e87b4 SITL: added barometer wind coefficients 2020-12-11 15:21:41 +11:00
Andrew Tridgell 3456bdb4eb SITL: added a separate param class for SITL baro params 
makes it easier to add more
 2020-12-11 15:21:41 +11:00
Peter Barker f7b2856af0 SITL: add simulator for IntelligentEnergy 2.4kWh 
SITL: Added setup note to comment

SITL: IE24: Add Error param and cycle battery pwr
 2020-11-24 12:54:52 +11:00
Andrew Tridgell bce4fd43a3 SITL: fixed GPS POS parameters 
SIM_GPS2_POS1_* makes no sense
 2020-11-24 12:01:04 +11:00
Michael du Breuil 892fb74c96 SITL: Add parameters for SFML_Joystick 2020-11-13 15:38:22 +11:00
Andrew Tridgell e07cecb264 SITL: added support for simulated battery discharge 2020-10-28 14:20:44 +11:00
Andrew Tridgell bf9c76a5c3 SITL: added SIM_MAGn_FAIL parameters 2020-09-08 11:01:14 +10:00
Andrew Tridgell b18928e28e SITL: fixed SIM_IMU_COUNT conflict 
this came from merging two PRs which both changed SITL params
 2020-08-28 11:32:31 +10:00
Andrew Tridgell c16467a47f SITL: added SIM_IMU_COUNT 2020-08-28 10:17:00 +10:00
Harshit Kumar Sankhla 8507c7d3b9 SITL: add some airspeed, baro, gps noise simulation parameters 
also some rearrangements in the parameter
lists to make things look better
 2020-08-27 20:20:51 +10:00
Andrew Tridgell 91b4830801 SITL: added SIM_GPS_ACC parameters 2020-08-25 10:22:05 +10:00
Iampete1 537eec9091 SITL: add rangefinder support 2020-08-05 18:24:36 +10:00
Andrew Tridgell a6df0745a6 SITL: make all GPS params available for both GPS 2020-07-10 13:28:38 +10:00
Andrew Tridgell f9f8822e47 SITL: added ship takeoff/landing simulation 
this allows for a ship with a given radius and speed, allowing for
testing of ship takeoff and landing systems
 2020-07-10 13:28:38 +10:00
Andrew Tridgell 925b44dee5 SITL: split out GPS and MAG parameters into their own tables 
this creates space for new parameter trees
 2020-07-10 13:28:38 +10:00
Harshit Kumar Sankhla 33ac9efe17 SITL: add parameters for 2nd baro 2020-07-08 16:25:31 +10:00
Randy Mackay 443d4186a4 SITL: default vicon to send position and speed 2020-07-04 09:50:28 +09:00
Peter Barker 88c8dd8465 SITL: add RichenPower generator simulator 2020-07-03 08:21:42 +09:00
Andrew Tridgell 2e7dc380c4 SITL: revert default physics step to 1200 
this should help us pass CI
 2020-06-06 08:17:25 +10:00
Andrew Tridgell 750b220a5f SITL: simulations optimisations 
- change to 600Hz physics rate by default
 - don't export rotational acceleration (not needed)
 - report speedup in terminal output at 0.5Hz (wall clock rate)
 2020-06-06 08:17:25 +10:00
bugobliterator 95493e4569 SITL: add support for per mag calibration 2020-06-05 09:38:40 +10:00
Andrew Tridgell e4596efe9b SITL: added SIM_RATE_HZ 
this allows the physics step size to be changed while flying the
internal models, which allows for lower CPU usage
 2020-06-03 18:11:06 +10:00
Randy Mackay c8f6cb233b SITL: vicon supports sending vision-speed-estimate 
SIM_VICON_TMASK controls which of the 3 supported messages are sent
SIM_VICON_VGLI_X/Y/Z allows introducing a velocity glitch
 2020-06-02 08:33:42 +09:00
Randy Mackay 366d03a533 SITL: add VICON_YAWERR 
this allows simulating an error in the camera's reported yaw
 2020-05-15 09:22:07 +10:00
Randy Mackay bf9ee4ada8 SITL: remove unused MAG_ERROR and VICON_HSTLEN params 2020-05-15 09:22:07 +10:00
Randy Mackay d8bc197d35 SITL: add VICON_GLIT_XYZ, FAIL and YAW 
glitches are in meters in vicon's frame
fail disables sending of vision-position-estimate messages
yaw is the vicon's heading in degrees.  i.e. if vicon's "forward" is
pointing to the east, yaw should be set to 90
 2020-04-28 12:31:14 +09:00
Willian Galvani cf6f5502a4 SITL: Make Sub buoyancy a parameter 2020-04-27 12:48:52 -07:00
Randy Mackay 3ccb3c69a6 SITL: add vicon position offsets 2020-04-14 10:28:03 +10:00
Andrew Tridgell 778532d556 SITL: added SIM_GPS2_HDG and rationalise the GPS position variables 2020-04-11 21:14:31 +10:00
Samuel Tabor 5082c9be8b SITL: Add plane-soaring type, including parameters, mission, simulated thermals and glider sim settings. 2020-04-08 09:11:54 +10:00
Andrew Tridgell 09b272b840 SITL: added SIM_LED_LAYOUT parameter 
for layout of simulated LEDs
 2020-02-27 13:12:26 +11:00
Andy Piper 2033cf3b4a SITL: add SIM_VIB_MOT_MULT to allow motor noise to have a different amplitude to the fixed frequency noise 2020-02-22 11:15:37 +11:00
Siddharth Purohit 8a7dcafa0f SITL: add parameter MAG_DEVID in SITL 2020-02-19 13:59:53 +09:00
Andrew Tridgell fb3496b63b SITL: added SIM_GPS2_POS 
and re-arrange two sets of GPS parameters to be arrays
 2020-01-26 16:55:17 +11:00
Andy Piper a6a020b3c7 SITL: record throttle value instead of motors on/off 2019-12-31 10:34:02 +11:00
Andy Piper c807267bab SITL: add rpm-based motor noise per-motor to gyros and accels 
convert multicopter thrust to rpm per motor
 2019-12-17 10:07:06 +11:00
Andrew Tridgell 7b203f6816 SITL: added SIM_MAG_SCALING for testing scale factor errors 2019-12-03 20:48:23 +11:00
Peter Barker 326ba5b974 SITL: support for virtual hardware safety switch 2019-11-26 10:14:11 +11:00
Andrew Tridgell 4d50996780 SITL: added MegaSquirt EFI simulation 2019-11-17 20:10:54 +11:00
Peter Barker 47fbf70e85 SITL: create SITL tonealarm files to hold enable parameter 2019-10-16 16:00:35 +11:00
Peter Barker 32ec6d7e9a SITL: add a simulated buzzer 2019-10-16 16:00:35 +11:00
Andrew Tridgell 3d9f393f4b SITL: added SIM_LOOP_DELAY parameter 
this allows us to test high CPU load conditions by adding a delay to
each loop
 2019-09-19 18:25:20 +10:00
Peter Barker 169013cae2 SITL: allow starting location to come from parameters 2019-08-15 18:00:35 +10:00
Peter Barker 24405f1b23 SITL: correct and add comment 2019-08-15 18:00:35 +10:00
Peter Hall 2a3676003a SITL: sailboat add tide 2019-08-07 14:34:07 +09:00
Peter Hall 90bf224e7f SITL: sailboat add wave simulation and parameters 2019-08-07 14:34:07 +09:00
Grant Morphett 2ce7955614 SITL: Create gps_hdt_enabled varible for enable/disable HDT GPS sentence 2019-07-13 11:05:57 +10:00
Peter Barker e01ea2f5f9 SITL: support a count of baros 2019-07-09 10:01:23 +10:00
Peter Barker 6939a9fa91 SITL: add capability to twist the aircraft 
This makes the EKF very, very unhappy, but is useful for compass
calibration testing
 2019-04-23 10:06:17 +10:00
Andrew Tridgell e18f40cc08 SITL: added IMU failure masks 2019-04-22 14:56:30 +10:00
Paul Riseborough 8ac8c7285b SITL: Add parameter for optical flow sensor noise 2019-04-02 10:51:12 +11:00
Peter Barker 4db011f530 SITL: add SIM_SHOVE_* options to shove the simulated vehicle 
The parameter values are time in milliseconds and body-frame
acceleration in m/s/s

So to test throw mode:
 mode throw
 param set SIM_SHOVE_Z -30
 arm throttle
 param set SIM_SHOVE_TIME 500
 2019-03-12 11:09:37 +11:00
Pierre Kancir 04bc267a61 SITL: add precland object 
add position for precland object
add refresh rate
add alt and lateral range
add diffusion range
 2019-03-01 20:28:22 +11:00
Tom Pittenger a4e91e196f SITL: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Andrew Tridgell 56683ba803 SITL: added SIM_BAUDRATE_EN parameter 2019-01-27 08:56:12 +11:00
Peter Barker 6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker 834b45ce18 SITL: stop taking DataFlash pointer as argument 2019-01-18 11:16:54 +11:00
Peter Barker d3b9ac5c8c SITL: add simulated parachute 
Doesn't actually change aerodynamics at the moment
 2019-01-09 13:16:03 +11:00
Andrew Tridgell 9ca059ba16 SITL: added SIM_VIB_FREQ parameter 2019-01-08 06:49:02 +11:00
Andrew Tridgell 0536a3c4c6 SITL: added SIM_WOW_PIN 2018-11-09 14:35:14 +11:00
Pierre Kancir 37f7cc4bcf SITL: rearrange Grippers and Sprayers in SITL 2018-07-31 23:34:43 +10:00
Andrew Tridgell 128ea42286 SITL: added SIM_RC_CHANCOUNT parameter 2018-07-24 19:44:03 +10:00
Andrew Tridgell d1f67f6ded SITL: added diagonal, off-diagonal and orientation of SITL compass 2018-07-18 16:07:19 +10:00
Peter Barker a137afd11b SITL: add singleton 2018-05-23 18:36:50 +10:00
Eugene Shamaev d086edc762 SITL: add wind type parameters 2018-05-02 07:32:25 -07:00
Peter Barker 08189e0754 SITL: add parameter for Vicon observation delay 2018-03-27 20:28:53 +09:00
Eugene Shamaev 6954a0035a SITL: SITL of several airspeed sensors 2018-03-09 11:27:20 -08:00