5cd5f40f09
autotest: switch to full accel modelling in multicopter simulation
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the new AHRS code should allow for centripetal compensation in
multicopters
2012-06-27 16:01:50 +10:00
ff9743995d
autotest: fixed lat/lon update for multicopter sim
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this makes waypoint tracking more accurate
2012-06-05 11:18:52 +10:00
0f6e7a1449
pysim: implement partial 3D acceleration support
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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
f1acdb13c2
pysim: added experimental acceleration support
2012-03-23 16:48:52 +11:00
5f3e2cf98a
pysim: update the multicopter simulator with correct acceleration
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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
ffa3330f93
autotest: fixed the calculation of the acceleration due to gravity
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this fixes the attitude calculation for the multicopter simulation
2012-02-18 19:27:15 +11:00
228d1620d2
autotest: added --wind option to sim_quad
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this is in the form of speed,direction,turbulance
2011-12-13 10:36:52 +11:00
420bb9cc75
pysim: fixed the accelerometer calculation in the quad simulator
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this was causing severe drift in the attitude calculation
2011-12-12 21:57:09 +11:00
39d0d7ed49
autotest: fixed body/earth frames in sim_quad physics model
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Jason, can you have a look at this?
2011-12-05 17:45:23 +11:00
0887804096
autotest: imported python quadcopter model as sim_quad.py
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this allows us to keep it in sync with the main SITL code
2011-12-02 17:37:54 +11:00
Andrew Tridgell