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1212 Commits

Author SHA1 Message Date
jkronk a7785b0798 SITL: add Ainstein SITL driver 2024-03-18 12:40:37 -07:00
Ryan Friedman 41fc3a8dbb AP_ExternalAHRS: SIM_MicroStrain support quaternion attitude 
* This replaces IMU orientation
* Fixed some usage docs

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2024-03-15 18:11:22 +11:00
Peter Barker aefa41f22a SITL: correct compilation on g++-7.5.0 
.cpp: In member function void SITL::ShipSim::send_report():
BB-WAF: /mnt/volume_nyc3_01/autotest/APM/APM/libraries/SITL/SIM_Ship.cpp:189:42: sorry, unimplemented: non-trivial designated initializers not supported
BB-WAF:          autopilot : MAV_AUTOPILOT_INVALID};
BB-WAF:                                           ^
BB-WAF: compilation terminated due to -Wfatal-errors.
BB-WAF:
BB-WAF: Waf: Leaving directory `/home/autotest/build/tmp/binaries.build/SITL_x86_64_linux_gnu'
 2024-03-15 18:10:53 +11:00
Andrew Tridgell c34e4907fe SITL: added moving precland simulator 
added SIM_PLD_SHIP to make the precland location track the SIM_SHIP
location, giving a nice way of having a landing marker on a moving
ship
 2024-03-12 10:45:56 +11:00
Peter Barker d24e7a916f SITL: SIM_Morse: correct compilation with HAL_GCS_ENABLED false 2024-03-08 15:09:34 +11:00
Peter Barker cfd76b8dd9 SITL: name fields when assembling vision_position_delta message 2024-03-07 18:13:35 +11:00
Peter Barker 8c9ed697fe SIM_Vicon: label fields going into VISION_SPEED_ESTIMATE packets 2024-03-07 18:13:26 +11:00
Peter Barker c12bb6720a SIM_Vicon: label fields going into _POSITION_ESTIMATE packets 2024-03-07 18:13:17 +11:00
Peter Barker b30bdb7dd3 SITL: Sim_Ship: label global_position_int and attitude packet fields 2024-03-07 18:13:09 +11:00
Peter Barker 28488cbfd6 SIM_Vicon: correct heartbeating 
the heartbeat was packed but never sent
 2024-03-07 18:13:01 +11:00
Peter Barker 298ef64836 SIM_Vicon: label fields going into ODOMETRY packets 2024-03-07 18:13:01 +11:00
Peter Barker 21ca4f83f4 SITL: name fields in loweheiser mavlink packet 
avoid field ordering issues
 2024-03-07 15:52:16 +11:00
Andrew Tridgell feff2f34e9 SITL: fixed the vehicle type of the simulated ship 
this was broken by https://github.com/ArduPilot/ardupilot/pull/23763

we need to look for other places where we have assumed the MAVLink
field orderin in recent changes
 2024-03-07 15:51:15 +11:00
Andrew Tridgell 4f9b66c267 SITL: fixed precland simulator 
fixed units of height, was mixed cm and m, now just m AMSL
 2024-03-06 09:39:51 +11:00
Andrew Tridgell 07f34a2f74 SITL: added NoVehicle 2024-02-28 19:22:14 +11:00
Randy Mackay 81b0d599a8 SITL: vicon send odometry with quality of 50 2024-02-28 18:52:37 +11:00
Randy Mackay de657689ce SITL: vicon param descriptions 2024-02-28 18:52:37 +11:00
Gone4Dirt 749c7428dd SITL: FlightAxis: Fix helidemix 2024-02-28 18:09:42 +11:00
Peter Barker 21a01c5587 AP_GPS: remove dead GPS_MINDGPS variable 2024-02-22 14:41:29 +11:00
Andy Piper 76c0b0a8e0 SITL: squash static_assert warnings 2024-02-22 14:40:55 +11:00
Andrew Tridgell 3d4dbd0aed SITL: use gmtime_r() instead of gmtime() 2024-02-21 12:09:48 +11:00
Andrew Tridgell cb01789b9f SITL: use AP_JSON 2024-02-21 12:09:48 +11:00
Peter Barker 1515f0642b SITL: correct documentation around simulated GPS type 2024-02-20 19:35:01 +11:00
Peter Barker 5199be9914 SITL: add diagnostics when bad GPS backend specified 2024-02-20 19:35:01 +11:00
Iampete1 c54529aaf8 SITL: SIM_Motor: include momentum drag in derived torque 2024-02-20 12:22:05 +11:00
Andrew Tridgell 9225b9f76d SITL: added 4 motor tilt vectored quadplane 
from 2 motors tilt for "quadplane-tilt". This is the most common tilt
quadplane setup
 2024-02-18 16:28:43 +11:00
Andrew Tridgell 388b04d671 SITL: fixed SITL for tilted motors 
vector math was done in the wrong order
 2024-02-18 16:28:43 +11:00
Richard Marko 04b46678a4 treewide: fix shebangs - /bin/bash -> /usr/bin/env bash 
Most scripts/tools use non-portable `/bin/bash`, switch
to environment agnostic `/usr/bin/env bash`.
 2024-02-13 11:36:23 +11:00
Peter Barker 2761a528f3 SITL: remove unused include of AP_Stats.h 2024-01-30 11:12:21 +11:00
Andrew Tridgell b051719836 SITL: fixed name of pitch limit parameters 2024-01-23 15:00:30 +11:00
Andrew Tridgell 315f4963cc SITL: fixed parameter names 2024-01-23 15:00:30 +11:00
Andrew Tridgell 15a9909127 SITL: tidy TRIM_PITCH to PTCH_TRIM_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell 04d72d3adc SITL: convert param files for LAND_PITCH_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell bea9102d72 SITL: convert param files LIM_ROLL_CD -> ROLL_LIMIT_DEG 2024-01-23 15:00:30 +11:00
Andrew Tridgell 74e455ef6a SITL: convert param files for pitch limits 2024-01-23 15:00:30 +11:00
Andrew Tridgell d0757b5aec SITL: param rename for CRUISE_ALT_FLOOR 2024-01-23 15:00:30 +11:00
Andrew Tridgell 54f38b7570 SITL: convert ALT_HOLD_RTL and ALT_HOLD_FBWCM 2024-01-23 15:00:30 +11:00
Andrew Tridgell a87dea0139 SITL: convert ARSPD_FBW_MIN/MAX to AIRSPEED_MIN and AIRSPEED_MAX 2024-01-23 15:00:30 +11:00
Andrew Tridgell c3ae310d4c SITL: converted TRIM_ARSPD_CM to AIRSPEED_CRUISE 2024-01-23 15:00:30 +11:00
Tim Tuxworth 426f645f5e SITL: convert TRIM_PITCH_CD to TRIM_PITCH_DEG 2024-01-23 15:00:30 +11:00
Peter Barker 76eb1b43e4 SITL: rename COMPASS_TYPEMASK to COMPASS_DISBLMSK 
this is a very confusingly named parameter.  I've seen several instances of people treating this as an enable mask rather than a disable mask
 2024-01-23 11:54:49 +11:00
Peter Barker e8708227a1 SITL: new Loweheiser generator/efi sim 
Co-authored-by: Joshua Henderson <hendjoshsr71@gmail.com>

SITL: break out common GeneratorEngine code
 2024-01-23 11:27:30 +11:00
Peter Barker bddb9aaac7 SITL: add ASSERT_STORAGE_SIZE macro 
saves havin gto name the dummy variable yourself
 2024-01-22 22:44:05 +11:00
Peter Barker dec618645d SITL: add support for simulated QMC5883L compass 2024-01-22 19:15:08 +11:00
Peter Barker 5ae4355e26 SITL: correct compilation when HAL_LOGGING_ENABLED is false 2024-01-17 18:25:55 +11:00
Jacob Olson 689a5c7b52 SITL: SIM_Frame: fixed per_motor_vars config loading 2024-01-09 10:53:33 +11:00
Peter Barker 3a37796eb2 SITL: move simulated height_agl into fdm structure 
allows value to be shipped via multicast to simulated peripherals
 2024-01-08 20:00:01 +11:00
Andrew Tridgell 6c88111267 SITL: fixed build with sim on hw 2024-01-07 20:51:55 +11:00
Peter Barker b43f4f78a3 SITL: add missing includes for SITL object 2024-01-03 18:33:10 +11:00
Andrew Tridgell adffd93894 SITL: use SocketAPM_native 2024-01-03 12:14:47 +11:00
Andrew Tridgell b72b4b5bc0 SITL: added required headers with new SITL header structure 2024-01-03 12:14:47 +11:00
Andrew Tridgell 9428e41301 SITL: fixed running example firmwares 
don't call model update with no sitl instance
 2024-01-02 08:12:37 +11:00
Thomas Watson f6ea8201b2 SITL: remove references to legacy UART order incl. sim arguments 2023-12-19 06:53:15 +11:00
Andrew Tridgell a17438d52c SITL: added InertialLabs simulator 2023-12-17 09:47:30 +11:00
Andrew Tridgell 5fce4f5f6d SITL: added simple simulated jammer 2023-12-05 19:28:50 +11:00
Andrew Tridgell c316de75d0 SITL: fixed whitespace in SIM_GPS.cpp 
this one has been really bad for a while
 2023-12-05 19:28:50 +11:00
Ryan Friedman 1ae13cd66d SITL: Switch to using GPS Timestamp for 5 series driver 
* The old descriptor is deprecated

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-12-05 11:09:22 +11:00
Peter Barker 0d9c658a1e SITL: add missing includes 2023-12-04 07:04:12 +11:00
Peter Barker 97417a1038 SITL: rename SITL::GPS_GSOF to SITL::GPS_Trimble 2023-11-29 18:04:56 +11:00
Peter Barker a143d2e453 SITL: remove trailing whitespace in SITL GPS drivers 
we've just lost the history for these lines anyway
 2023-11-29 18:04:56 +11:00
Peter Barker d992ead5b1 SITL: rename GSOF to Trimble 
... as now it's not just GSOF but also DCOL
 2023-11-29 18:04:56 +11:00
Peter Barker 568d633dcc SITL: break up GPS backends into separate files 2023-11-29 18:04:56 +11:00
Ryan Friedman 35b52a4604 SITL: Implement DCOL parser and bidirectional comms 
* Implement DCOL command support for GSOF simulator
* Only send GSOF when enabled
* Publish only at the configured rate
* Only build GSOF packets when needed
  * This saves CPU
* Make physics and read loop run at full rate
  * The logic to rate-limit writes is now pushed to the backend
* Indent errors were fixed too

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-11-28 15:50:02 +11:00
Iampete1 d626928e0c SITL: SIM IntelligentEnergy24: add error string to V2 protocol 2023-11-28 11:27:14 +11:00
Gone4Dirt ab5d28073d SITL: Add V2 telemetry protocol to IE24 fuel cell 2023-11-28 11:27:14 +11:00
Ryan Friedman da0efa3323 SITL: Bump up read rate on SITL 
* This is needed to do active configuration quickly
* Read/Write split and exposed to ensure physics/write rate is still
  coupled to avoid impacting the jamming and delayed data
* Created a utility to allocate the SITL instance

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-11-21 15:29:46 +11:00
Peter Barker afa263c691 SITL: set sitl point for GPS backends in constructor 
_sitl is guaranteed non-nullptr by the SITL::GPS::update()
 2023-11-18 13:59:28 +11:00
Peter Barker a018bed042 SITL: improve MegaSquirt simulator fidelity 2023-11-17 13:09:02 +11:00
Peter Barker ca16e924db SITL: add simulator Hirth EFI 2023-11-17 13:09:02 +11:00
Peter Barker 2f710a4689 SITL: correct MegaSquirt simulation 2023-11-17 13:09:02 +11:00
Peter Barker bd05fad850 SITL: add code to add, remove or corrupt bytes in SITL::SerialDevice xfrs 2023-11-17 10:56:25 +11:00
Peter Barker 2a2a103195 SITL: add JAE JRE simulator 2023-11-15 10:50:49 +11:00
Ryan Friedman 6273fee892 AP_GPS: Rename GSOF packing functions 
* Added docs for why they exist

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-11-03 13:25:39 +11:00
Peter Barker fbe690d44b SITL: track simulated ADSB vehicles relative to simulation origin 
removes dependence on ArduPilot AHRS library

Also removes vehicles based off vehicle simulated position rather than distance-from-origin, so you always have company
 2023-11-02 15:52:42 +11:00
Peter Barker 4ec80076a1 SITL: correct bit for enabling MXS simulation 2023-11-02 15:52:17 +11:00
Andrew Tridgell f7a1227c25 SITL: added SIM_MAG_SAVE_IDS 
this controls whether SITL saves device IDs for compasses on startup
so the compasses always appear calibrated
 2023-10-31 10:14:42 +11:00
Peter Barker fd67c71eb0 SITL: add Sagetech MXS simulator 2023-10-25 20:06:47 +11:00
Andrew Tridgell 030dfe2fa1 SITL: use AP_BUILD_ROOT 2023-10-25 09:50:08 +11:00
Andrew Tridgell 928d50900a SITL: use connect_timeout() for realflight 
this gives much better handling of network glitches, preventing long
simulation timeouts which impact on the stability of the simulation
 2023-10-23 20:27:49 +11:00
Anthony Luo 51cbaed9d9 SITL: fix typos 2023-10-05 12:54:43 +11:00
Anthony Luo 021d9717c4 SITL: document airspeed params 2023-10-05 08:18:44 +11:00
Andrew Tridgell be01fcfdfd SITL: use mavlink_XXX_encode_status() 
this avoids clobbering sequence numbers and fixes race conditions
 2023-10-02 21:45:28 +11:00
Samuel Tabor 40f62949b3 Send lat lon in SIM_STATE as int32_t extensions 2023-09-27 14:14:37 -07:00
Tom Pittenger 8c4d00e6f2 SITL: add a thermal at home 2023-09-27 12:19:00 -07:00
Peter Barker 34bceb8eec SITL: log achieved speedup rate 2023-09-23 19:49:02 +10:00
Peter Barker 1208938d3b SITL: fix balancebot yaw reset to be kinimatically consistent 
... or at least closer to it.

We were hard-resetting the yaw to zero when the vehicle was upright.  That makes for huge simulated gyro rates, and that means the differences between the gyros can be huge sample-to-sample, so we can get gyros-inconsistent errors.

Fix things so we don't reset yaw at the same time as pitch, and also twist the vehicle to point North again when disarmed.
 2023-09-20 22:59:41 +10:00
Anthony Luo f0d7a367f4 SITL: document SIM_FLOW_* params 2023-09-12 18:56:06 +10:00
James O'Shannessy 8125ba1a41 SITL: add hardware relay enable mask for passing relays through to hardware 2023-09-11 12:21:13 +10:00
Ryan Friedman 0432863832 SITL: Add missing shebang 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-09-08 17:09:26 +10:00
Peter Barker d9818ae1ab SITL: add simulation instructions for TSYS03 sensor 2023-09-06 23:00:30 +10:00
Anthony Luo 6201f56d40 SITL: document SITL GPS params 
* Document GPS_LAG_MS

* Document GPS2_LAG_MS, Consistency fixes

* document DriftAlt & Hz

* document GPS_POS offsets

* document locktime and noise

* document GPS_ALT_OFS and GPS_HDG

* document GPS_ACC

* Finish documenting GPS parameters
 2023-09-05 10:02:43 +10:00
Peter Barker 390b025fa0 SITL: add simulator for TSYS03 temperature sensor 2023-09-05 07:17:00 +10:00
Peter Barker 7e0c178c6c SITL: add temperature to battery simulation 2023-09-05 07:17:00 +10:00
Anthony Luo 991e429afb SITL: document SIM_GPS_BYTELOSS and SIM_GPS_NUMSATS 2023-08-31 16:58:06 +10:00
Andrew Tridgell 3508d7eaa9 SITL: added SIM_CAN_TYPE0 and SIM_CAN_TYPE1 
this selects the transport to use for CAN
 2023-08-29 15:09:48 +10:00
Ryan Friedman 461a8dc86f SITL: split to MicroStrain5 
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-08-29 10:31:44 +10:00
Peter Barker 7fff465251 SITL: SIM_ICEngine sends diagnostics to GCS rather than stdout 
makes it much easier to see what the simulated engine is doing
 2023-08-26 21:21:49 +10:00
Peter Barker 149921792c SITL: document SIM_ACCx_BIAS_y 2023-08-26 16:15:58 +10:00
Andrew Tridgell 1b6c329de5 SITL: use NaN for invalid rangefinder data 
needed to cope properly with terrain errors leading to negative
rangefinder data
 2023-08-24 13:06:40 +10:00
Andrew Tridgell 4e71023018 SITL: added SIM_CAN_SRV_MSK 
mask of outputs that will come from the CAN SITL peripheral
 2023-08-24 13:06:40 +10:00