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257 Commits

Author SHA1 Message Date
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
Jason Short 005ff8d47e Fixed Loiter Timeout bug, added more wind by default. 2011-12-29 23:02:02 -08:00
Jason Short f0d3cdf4ed Turn off Super Simple by default 2011-12-29 23:02:02 -08:00
Jason Short 22172820a8 Made wind not reverse itself to be more natural 2011-12-29 23:02:02 -08:00
Andrew Tridgell 352b0ac5af autotest: update copies of pymavlink in autotest 2011-12-29 08:30:08 +11:00
Andrew Tridgell 2bdda450e8 autotest: fixed arducopter autotest 
no longer says "Please run setup"
 2011-12-26 20:10:10 +11:00
Jason Short 244f683ed9 Added more detail 2011-12-23 14:42:49 -08:00
Jason Short 8084d77a5f Added fix for Takeoff Test 2011-12-23 14:42:49 -08:00
Andrew Tridgell 9f089f3b0e added a copy of fdpexpect 2011-12-23 12:20:58 +11:00
Andrew Tridgell e88a8e2519 more errno fixes for MacOS 2011-12-23 12:07:32 +11:00
Andrew Tridgell 3f2d1764b6 fixed errno handling for MacOS 2011-12-23 11:59:25 +11:00
Andrew Tridgell 9892886994 fixed typo in fly_simple() 2011-12-22 10:25:31 +11:00
Andrew Tridgell 183773438b autotest: increare tail wheel friction 
this keeps the plane moving in a straight line a bit more
 2011-12-19 11:36:21 +11:00
Andrew Tridgell 271dc32dd7 autotest: bit more throttle on takeoff 
needed for increased rolling friction
 2011-12-19 11:25:59 +11:00
Andrew Tridgell 159920f47c autotest: add a DO_CHANGE_SPEED to arduplane test 
this slows down the Rascal for landing
 2011-12-19 11:25:59 +11:00
Andrew Tridgell 96add2d9b8 autotest: improved the Rascal ground reactions 
this gets the friction and bounciness of the undercarriage much closer
to a real model
 2011-12-19 11:25:59 +11:00
Andrew Tridgell 63e77806cf autotest: make the Rascal a tail dragger again 
good for testing wheeled takeoff
 2011-12-18 18:57:20 +11:00
Andrew Tridgell 938bd8b58d autotest: added automated landing test for ArduPlane 2011-12-18 17:31:46 +11:00
Andrew Tridgell cbe1c583b3 autotest: updates ArduPlane parameters 2011-12-18 17:31:45 +11:00
Andrew Tridgell b8d75a6fd6 autotest: fixed prog name 2011-12-16 20:10:12 +11:00
Andrew Tridgell 5d308b0b89 autotest: fixed working directory in sample scripts 2011-12-16 20:10:07 +11:00
Jason Short 1d52c9f2f4 added SuperSimple and notes 2011-12-15 20:51:41 -08:00
Jason Short ddcfa90be0 testing updates 2011-12-15 20:51:41 -08:00
Jason Short c5859515e3 Added new tests 2011-12-15 20:51:41 -08:00
Jason Short acbfc14e49 Added Land control_mode 2011-12-15 20:51:41 -08:00
Jason Short 6a55fe18f6 added altitude to circle mission 2011-12-15 20:51:40 -08:00
Andrew Tridgell aaa0214ded autotest: fgrate option has been removed from mavproxy 2011-12-13 21:34:53 +11:00
Andrew Tridgell 7e30aa51c9 loosen RTL criterion (wind affected) 2011-12-13 20:05:39 +11:00
Andrew Tridgell b198042e2c autotest: fixed loiter hold time 
hold time was larger than the timeout
 2011-12-13 19:08:47 +11:00
Andrew Tridgell 616c6f27a6 autotest: fixed wind specification for arduplane test 2011-12-13 19:04:00 +11:00
Andrew Tridgell 99395b919c autotest: added a 5m/s wind blowing south in plane test 2011-12-13 15:29:13 +11:00
Andrew Tridgell be3b9e3480 autotest: added wind support to ArduPlane simulation 2011-12-13 15:28:03 +11:00
Andrew Tridgell c518f8c224 autotest: show groundspeed in flightgear display 
useful with wind
 2011-12-13 15:27:32 +11:00
Andrew Tridgell f96dca3311 autotest: example startup scripts for simulators 2011-12-13 13:50:06 +11:00
Andrew Tridgell c64ed53e1d autotest: improved runsim defaults 2011-12-13 13:45:18 +11:00
Andrew Tridgell 5a2827e64b autotest: changed default sim_quad rate to 400Hz (matches autotest 
script)
 2011-12-13 13:44:53 +11:00
Jason Short b08e1329d0 more control over loiter time and alt change 2011-12-12 17:47:46 -08:00
Andrew Tridgell f5a54f3da8 autotest: use 'enter 3 times' method to get into CLI 
this doesn't depend on build options
 2011-12-13 10:36:52 +11:00
Andrew Tridgell 0e75b3b140 autotest: added a test script for wind generation 
this makes it easier to experiment
 2011-12-13 10:36:52 +11:00
Andrew Tridgell 63688826cf autotest: added a 2m/s wind from east to quadcopter test 2011-12-13 10:36:52 +11:00
Andrew Tridgell 9ef929e88e autotest: added --wind option to sim_quad 
this is in the form of speed,direction,turbulance
 2011-12-13 10:36:52 +11:00
Andrew Tridgell 5fb01d1cdd autotest: added a wind generation class 2011-12-13 10:36:52 +11:00
Andrew Tridgell d92884b5fb autotest: fixed motor order display 2011-12-12 23:14:29 +11:00
Andrew Tridgell 1426f9dedd autotest: added logging of what failed 2011-12-12 23:08:20 +11:00
Andrew Tridgell 44ccbd12da autotest: increase stream rate to 5 for ArduCopter test 
needed to get accurate heading monitoring
 2011-12-12 23:07:46 +11:00
Andrew Tridgell c1a23ef150 pysim: added rotational resistance 2011-12-12 22:08:10 +11:00
Andrew Tridgell 299b19cfe6 autotest: calibrate accelerometers at startup 2011-12-12 22:07:53 +11:00
Andrew Tridgell 6121942d42 pysim: fixed the accelerometer calculation in the quad simulator 
this was causing severe drift in the attitude calculation
 2011-12-12 21:57:09 +11:00
Andrew Tridgell 9b654cd8fb autotest: nicer display in FG quadcopter view 2011-12-12 21:01:32 +11:00
Jason Short f71949de2e Cleaned up mission 3 2011-12-10 20:43:39 -08:00
Jason Short 25b34ed423 Simple square test 2011-12-10 10:19:20 -08:00
Andrew Tridgell f531764f88 autotest: automatically pause when SITL sim stops 
this allows you to use gdb on the sim without crashing
 2011-12-09 15:05:27 +11:00
Andrew Tridgell 98a03b7768 autotest: fixed rudder reversal for Rascal, and RC3 trim 2011-12-09 15:05:27 +11:00