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239 Commits

Author SHA1 Message Date
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
Nicholas Engle 1103e92884 SITL: Add SIM_WIND_DIR_Z parameter for SITL 
This controls the vertical pitch of the 3d wind vector, allowing futher control of the wind
using systems like dronekit. This change directly effects the calcuation of the wind vector
 2018-02-05 16:38:53 -08:00
Mark Whitehorn dedb40ce0b SITL: add parameter to simulate reversed pitot tube order 2017-09-22 18:21:09 +10:00
Andrew Tridgell 7ade37bd4e SITL: added SIM_GPS_ALT_OFS 
this is used to give a bad GPS height in SITL, which is very useful for
testing origin vs home issues
 2017-09-18 10:24:45 +10:00
Michael du Breuil 4dbe282121 SITL: Add airspeed failure parameters 2017-08-10 20:15:35 +10:00
Andrew Tridgell a7967e00e4 SITL: added SIM_GPS_LOCKTIME parameter 2017-07-14 15:02:12 +10:00
Andrew Tridgell d50dcb5ad2 SITL: added SIM_TEMP_BFACTOR 
for barometer temperature error
 2017-05-03 20:12:04 +10:00
Andrew Tridgell c1b6684b9f SITL: added temperature control parameters 2017-05-03 20:12:04 +10:00
Andrew Tridgell 67404e9660 SITL: added SIM_ODOM_ENABLE 
for enabling visual odomotry simulated data
 2017-05-01 15:06:46 +10:00
Pierre Kancir f8d6b5fc9c AP_HAL_SITL: Allow to use a second type of gps for all type 2017-04-26 18:34:56 +01:00
Andrew Tridgell 4de0daa7a1 SITL: make quaternion state available outside SITL 2017-04-16 14:01:36 +10:00
Guilherme Sousa 204fcba8c1 SITL: Added SIM_ENGINE_FAIL to define failed motor 2017-03-29 22:39:51 +11:00
Randy Mackay 07ce7b8bd6 SITL: add GPS2_GLITCH parameter 2017-03-13 11:31:51 +11:00
Michael du Breuil ef0c51da42 SITL: Add GPS noise parameter 2017-02-13 09:23:14 +11:00
Andrew Tridgell 65c3d0e060 SITL: added ACC2_BIAS 2016-12-19 08:07:14 +11:00
priseborough 27dab27565 SITL: Add parameters for sensor position offsets in body frame 2016-10-27 14:54:44 +11:00
Andrew Tridgell 5e03358b0b SITL: added servo filtering 
SIM_SERVO_SPEED is servo time constant in seconds
 2016-10-25 20:39:38 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell c275e7c61d SITL: added SIM_SPEEDUP parameter 
allows changing speed of simulation while running
 2016-09-19 07:45:24 +10:00
Tom Pittenger 19ac9bce48 SITL: add Ping2020 simulated device 2016-08-16 16:33:36 -07:00
Andrew Tridgell f075fcd79f SITL: added SIM_PIN_MASK 
for simulation of GPIO pins
 2016-07-22 15:01:20 +10:00
Tom Pittenger 44a60f278a SITL: change default of SIM_ADSB_RADIUS from 1E3 to 10E3 2016-07-21 00:04:20 -07:00
Paul Riseborough 078284e2e2 SITL: Add magnetic field environment to simulation 
Includes parameters enabling a ground level magnetic anomaly to be modelled.
TODO - add automatic setting of declination, inclination and field strength using WGS-84 position.
 2016-06-19 12:51:34 +10:00
Tom Pittenger 1770f314ac SITL: change SIM_ADSB default to -1 to default disabled to leave telem port available 2016-06-15 17:22:54 -07:00
Tom Pittenger 95da4accfb SITL: add SIM_ADSB_COUNT, RADIUS, ALT params 2016-06-14 21:00:39 -07:00
Tom Pittenger c77a5e6764 SITL: rename aspd variables and params to arspd 2016-05-17 16:36:07 -07:00
Andrew Tridgell a828db792e SITL: added SIM_GYR_SCALE_{X,Y,Z} 
allows testing of gyro scale factor learning in EKF2
 2016-01-19 15:28:53 +11:00
Caio Marcelo de Oliveira Filho d343bfdc6c SITL: use millis/micros/panic functions 2015-11-20 12:35:50 +09:00
Andrew Tridgell e1cb9beeef SITL: expose update rate to HAL_SITL 
and fixed dataflash reference loop
 2015-11-16 17:57:36 +11:00
Lucas De Marchi 831d8acca5 Remove use of PROGMEM 
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:

    git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
    git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'

The 2 commands were done so we don't leave behind spurious spaces.

AVR-specific places were not changed.
 2015-10-30 14:35:16 +09:00
Caio Marcelo de Oliveira Filho 288dc2a385 SITL: clean up includes 
Remove unnecessary includes, reorder them in blocks separated by a blank
line

   - Corresponding header file (if exists)
   - System headers
   - Other ArduPilot library headers
   - "Local" headers (from the same library)
 2015-10-22 13:36:19 -02:00
Caio Marcelo de Oliveira Filho f0a20cdc7c SITL: remove trailing whitespace 2015-10-22 11:15:20 -02:00
Caio Marcelo de Oliveira Filho 49a42dc985 SITL: use a SITL namespace 2015-10-22 11:04:42 -02:00
Gustavo Jose de Sousa a02e7730ea SITL: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:38:25 +10:00
Tom Pittenger 250dcd31a2 SITL: Add ARSP_FAIL param 
This will allow testing pitot tube hardware failures
 2015-07-23 14:38:06 +10:00
Randy Mackay 2b4aaf2368 SITL: add vibe monitor and SIM_ACC2_RND to sitl 2015-07-12 16:50:30 +09:00
Andrew Tridgell ff88932091 SITL: setup turbulence in JSBSim 2015-06-29 11:25:59 +10:00
Andrew Tridgell b541bfb739 SITL: fixed build warnings 2015-05-30 22:51:38 +10:00
Peter Barker 88015503ac SITL: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:16 +10:00
Andrew Tridgell 2bb5f677c7 SITL: removed earth frame rates 2015-05-25 09:03:10 +10:00
Andrew Tridgell 1127b716c4 SITL: lower the default noise 
prevents problems calibrating the gyro
 2015-05-09 07:22:37 +10:00
Andrew Tridgell 42c6801d61 SITL: reformat SITL code with astyle 2015-05-05 11:49:54 +10:00
Andrew Tridgell 19147a05f6 SITL: support functions for new simulators 2015-05-05 09:45:52 +10:00
Tom Pittenger 91476d78ae SITL: fix compile warnings re float constants 2015-04-24 14:04:19 +09:00
Andrew Tridgell 1ce9cb693a SITL: added SIM_MAG_OFS for setting compass offsets in SITL 2015-04-21 08:29:27 +10:00
Sean O\'Brien 6474aa2477 AP_HAL_AVR_SITL: added sensor delays to sitl. 2015-04-14 10:10:38 +10:00
Andrew Tridgell b17878c8c4 SITL: lower default GPS delay to 0.2 seconds 
this matches typical uBlox
 2015-04-14 09:57:47 +10:00
Andrew Tridgell 63c792bc1c SITL: added SIM_GPSDRIFTALT simulation control 2015-02-21 08:32:49 +11:00
Andrew Tridgell 5512a6f8a0 SITL: lower the default noise in SITL 
the noise levels were well above realistic levels, especially for gyro
noise, and were causing EKF issues
 2015-01-22 11:33:09 +11:00
Andrew Tridgell 228b04e21e SITL: added SIM_FLOW_DELAY parameter 2015-01-06 14:19:02 +11:00
Andrew Tridgell 5758f39127 SITL: added SIM_FLOW_RATE parameter 2015-01-06 14:19:02 +11:00
Andrew Tridgell 9b65376961 SITL: added SIM_TERRAIN parameter 
to choose either flat earth or AP_Terrain for sonar and optical flow
AGL emulation
 2015-01-03 21:47:28 +11:00
Andrew Tridgell 66a03d100e SITL: make some units clearer in comment 2015-01-03 15:44:19 +11:00
Andrew Tridgell 254aa32d4e SITL: added SIM_FLOW_ENABLE option 2015-01-03 14:16:34 +11:00
Andrew Tridgell ef98eba722 SITL: added SIM_SONAR_SCALE parameter 
used for simulating different kinds of rangefinders
 2014-08-10 22:36:38 +10:00
Randy Mackay 79291f25a0 SITL: add ACC_BIAS and BARO_GLITCH parameters 
These allow testing accelerometer bias which often comes from vibration
and sudden changes in baro altitude.
 2014-07-28 22:16:21 +09:00
Jonathan Challinger e883b889b6 SITL: Add compassmot interference 2014-05-15 21:14:20 +10:00
Andrew Tridgell e0db7b117f SITL: added SIM_FLOAT_EXCEPT parameter 
this enables checking for floating point exceptions
 2014-04-21 15:37:08 +10:00
Andrew Tridgell 7404fc9d40 SITL: added SIM_BARO_DISABLE parameter 
useful for testing baro failure
 2014-04-11 16:47:40 +10:00
Andrew Tridgell 7a52938f68 SITL: added SIM_GPS2_ENABLE option 2014-03-03 07:07:09 +11:00
Andrew Tridgell 9e3bf685c2 SITL: use sinf() and cosf() 
for some strange reason the double precision functions can crash
 2014-02-15 05:48:17 +11:00
Andrew Tridgell 38ac8d404a SITL: fixed PX4 build 2014-02-15 05:48:17 +11:00
Andrew Tridgell fba0891617 SITL: fixed SIM df altitude 2014-02-15 05:48:17 +11:00
Andrew Tridgell fcd9041e62 SITL: added dataflash logging 2014-02-15 05:48:14 +11:00
Andrew Tridgell 5eac5fb26f SITL: added SIM_RC_FAIL 
simulate RC failure with no signal
 2013-12-20 09:43:04 +11:00
Andrew Tridgell b075f8735f SITL: moved airspeed pin to pin 1 
keep it separate from the sonar, allowing both to be used at the same time
 2013-11-28 21:44:05 +11:00
Ben Nizette 339da1c21b SITL: Add noise and glitching behaviour for the sonar sensor 2013-11-28 21:38:05 +11:00
Ben Nizette 70d37d2cf6 SITL: Wire in basic support for SITL downward-looking sonar sensors 2013-11-28 21:38:05 +11:00
Ben Nizette 59a54aae20 SITL: Add barometer drift parameter to the SITL library 2013-11-28 21:35:13 +11:00
Andrew Tridgell 428479b9d5 SITL: added SIM_ACCEL_FAIL option 
used to test accelerometer failure in flight
 2013-11-07 12:49:08 +11:00
Andrew Tridgell ede927f68a HAL_SITL: added airspeed noise control 2013-10-14 15:40:45 +11:00
Randy Mackay 8d1d8c78b5 SITL: add SIM_BATT_VOLTAGE 2013-10-03 11:16:35 +09:00
Andrew Tridgell 42bc8b12df SITL: added a SIM_GPS_HZ option 
this allows simulation of slow GPS updates (for example, the 1Hz GPS
problem)
 2013-10-01 16:39:16 +10:00
Randy Mackay c6a99ac24a AutoTest: add support for GPS glitching 2013-09-24 21:41:04 +09:00
Andrew Tridgell 4864496ae6 SITL: reduce default GPS delay to 0.4 
closer to real uBlox delay
 2013-09-16 11:41:51 +10:00
Andrew Tridgell e85d275fe5 SITL: added SIM_SERVO_RATE parameter 
this allows a slew rate for servos to be specified in degrees/second
 2013-09-16 09:16:52 +10:00
Andrew Tridgell 97b7130bb9 libraries: update license header to GPLv3 
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
 2013-08-30 13:01:39 +10:00
Andrew Tridgell 97baec8bc7 SITL: update for new SIMSTATE message 2013-08-14 14:36:44 +10:00
Andrew Tridgell 15a84972d1 SITL: added SIM_MAG_ERROR parameter 
this is a compass yaw error in degrees, used for testing navigation
with a bad compass
 2013-05-27 13:37:34 +10:00
Andrew Tridgell 055da3c4b6 SITL: added SIM_GPS_NUMSATS parameter 
this allows testing of the DCM code with less than 6 satellites
 2013-05-07 10:38:36 +10:00
Andrew Tridgell 9d3b32bd27 SITL: change default wind speed to zero 
makes starting SITL easier for new users
 2013-04-17 11:39:43 +10:00
Andrew Tridgell fb4e68f0f0 SITL: added SIM_GPS_BYTELOSS option 
this allows testing of protocol recovery after losing bytes on the GPS
serial link
 2013-02-16 22:00:16 +11:00
Andrew Tridgell 2ec2c58f67 SITL: added SIM_GPS_TYPE control 
for choosing what sort of GPS to simulate
 2013-02-16 20:15:57 +11:00
Pat Hickey 6943d32d76 SITL: fixed to build under AP_HAL 
* won't work or naything like that
 2012-12-20 14:51:35 +11:00
Andrew Tridgell 697b2074a5 SITL: added SIM_WIND_* parameters 
this allows control of the simulated wind during a flight
 2012-08-25 17:49:26 +10:00
Andrew Tridgell 34a1297842 SITL: added SIM_ENGINE_MUL 
this allows for simulated engine failures
 2012-08-17 14:22:08 +10:00
Andrew Tridgell 3419d8e006 SITL: fill in SIMSTATE.lat and SIMSTATE.lng 2012-08-11 11:58:25 +10:00
Andrew Tridgell 518d6365ff AP_Param: update remaining libraries for new constructor syntax 2012-08-08 12:11:57 +10:00
Andrew Tridgell c35a2e999b SITL: added SIM_GPS_DELAY parameter 
this allows a delay to be added to the gps data to test the impact on
AHRS/DCM
 2012-07-04 21:05:22 +10:00
Andrew Tridgell ed691fc465 SITL: added SITL class for controlling simulation 
this holds mavlink settable parameters for controlling sensor noise
levels
 2012-06-29 15:10:51 +10:00