Peter Barker
6f200cdc3d
SITL: SIM_Rover: remove unused variables
2016-10-24 08:57:55 -02:00
Peter Barker
d3422d1653
SITL: SIM_Tracker: remove unused variable
2016-10-24 08:57:55 -02:00
Georacer
54c1efe5e1
Connection to last_letter once again successful
2016-10-17 09:37:23 +11:00
John Hsu
fc13efa673
SITL: update SIM_Gazebo SITL interface servo packet to have 16 floats, matching sitl_input struct.
2016-10-13 12:03:20 +11:00
Gustavo Jose de Sousa
06c3102701
SITL: SIM_Calibration: bring angular velocity controller back
...
And fix header documentation.
2016-10-11 12:58:37 +11:00
Murilo Belluzzo
0b86532b5c
Global: Remove '\r' character from all source code files
2016-10-03 22:13:27 -03:00
Michael Oborne
11c376588d
AP_GPS_NOVA: support tersus/novatel/comnav gps
2016-09-20 10:53:49 +10:00
Andrew Tridgell
c275e7c61d
SITL: added SIM_SPEEDUP parameter
...
allows changing speed of simulation while running
2016-09-19 07:45:24 +10:00
Andrew Tridgell
52caf8419e
SITL: fixed sense of wind direction
...
wind direction is where wind is coming from, not going to
2016-09-16 10:59:27 +10:00
Andrew Tridgell
8f35305496
SITL: added a simpler compass cal simulation
...
just output 1250 to servo5 and it will go through lots of rotations
2016-09-16 08:59:43 +10:00
Andrew Tridgell
3aba0d8359
SITL: fixed rover altitude
...
thanks to Grant for noticing this
2016-08-24 13:29:45 +10:00
Andrew Tridgell
49b82b767f
SITL: added RPM for heli sim
2016-08-23 09:30:14 +10:00
Andrew Tridgell
3ecf2850a8
SITL: fixed send of MAVLink2 pkt
2016-08-16 16:33:36 -07:00
Tom Pittenger
19ac9bce48
SITL: add Ping2020 simulated device
2016-08-16 16:33:36 -07:00
Andrew Tridgell
622d26b122
SITL: expand to 16 output channels
...
needed for IC engine testing with octaquadplane
2016-07-25 15:45:39 +10:00
Andrew Tridgell
e73d43d4f9
SITL: improve ICEngine simulation
2016-07-25 10:06:02 +10:00
Andrew Tridgell
995fb7cd86
SITL: added IC engine simulation
2016-07-25 10:06:02 +10:00
Andrew Tridgell
4301faeac9
SITL: map X-Plane Mixture inputs to channels 6 and 7
...
this gives two user controllable channels for experimental aircraft
2016-07-22 19:14:46 +10:00
Andrew Tridgell
69da7e9f86
SITL: added elevrev option for plane sim
...
used by autotest
2016-07-22 16:42:23 +10:00
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
Andrew Tridgell
a1c759e491
SITL: added sensor smoothing
...
this adds smoothing of sensors for kinematic consistency when
interacting with the ground. It means when we land the EKF doesn't go
crazy
2016-07-19 21:38:16 +10:00
Andrew Tridgell
4faa57074a
SITL: removed vehicle specific ground handling
2016-07-19 14:47:47 +10:00
Andrew Tridgell
e7a54c83d1
SITL: allow SITL to use terrain data for ground height
2016-07-19 14:42:31 +10:00
Tom Pittenger
acaf0c6a5d
SITL: LPF the SIM_WIND_DIR and SIM_WIND_SPD values to eliminate step inputs
2016-07-15 18:37:40 -07:00
Andrew Tridgell
4e8b4f29d9
SITL: added -heavy option to fixed wing model
2016-07-16 08:14:29 +10:00
Andrew Tridgell
f3f34be9c4
SITL: added comment on heli interlock
2016-07-12 20:50:22 +10:00
Andrew Tridgell
4f17093add
SITL: give a bit more pitch on tail in XPlane heli
2016-07-12 19:08:50 +10:00
Andrew Tridgell
fdd20830d6
SITL: use flaps for collective on helis in X-Plane 10
...
works for more helis
2016-07-12 19:08:50 +10:00
Andrew Tridgell
871219d199
SITL: support helicopters with X-Plane 10
...
we get collective from "throttle2" and get interlock from generator1 on/off
2016-07-12 14:40:08 +10:00
Andrew Tridgell
0be442d34b
SITL: improved throttle input in XPlane
...
reduce chance that throttle output will be interpreted as input
2016-07-05 09:48:40 +10:00
Andrew Tridgell
f387f248d3
SITL: added support for servo slew rates and retract servos
...
this is for tiltrotors with retract servos
2016-07-05 09:40:37 +10:00
Andrew Tridgell
82f131667d
SITL: added flaps control in XPlane
2016-06-30 20:26:00 +10:00
Andrew Tridgell
a6e927d434
SITL: default gyro cal off in XPlane and FlightAxis
...
pointless doing cal on these backends
2016-06-24 10:32:52 +10:00
Andrew Tridgell
569443231a
SITL: improved altitude data in XPlane
2016-06-20 12:52:13 +10:00
Andrew Tridgell
51fff00871
SITL: report data and frame rates in XPlane
...
and avoid time going backwards if possible
2016-06-20 12:52:13 +10:00
Andrew Tridgell
b7395ee74b
SITL: fixed sign of magnetic inclination
2016-06-20 11:17:36 +10:00
Andrew Tridgell
5b7b799046
SITL: fixed mag field in JSBSim and last_letter
2016-06-20 11:07:51 +10:00
Andrew Tridgell
16595d2f3b
SITL: auto-set AHRS_EKF_TYPE to 10 for XPlane and FlightAxis
2016-06-20 08:38:53 +10:00
Andrew Tridgell
2f88c24f49
SITL: added debug showing UDP ports for XPlane
2016-06-19 21:18:19 +10:00
Andrew Tridgell
ec5534bd6a
SITL: explain the throttle_magic code for XPlane
2016-06-19 21:10:49 +10:00
Andrew Tridgell
f76a7e64ca
SITL: auto-select correct data fields from X-Plane10
2016-06-19 20:57:34 +10:00
Andrew Tridgell
4f99c17aae
SITL: added X-Plane 10 SITL backend
2016-06-19 13:59:15 +10:00
Paul Riseborough
55b0bbd3f1
SITL: Add simulation of 3D earth magnetic field
...
Use an independant method to the flight code using tables that that can updated.
Data taken from NOAA online calculator using WMM data at 2016-6-16 date
2016-06-19 12:51:34 +10:00
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
Andrew Tridgell
e360c6117e
SITL: make SIM_* variables available to simulator backends directly
2016-06-17 08:36:13 +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
Andrew Tridgell
027788f72b
SITL: fixed gimbal simulator for recent MAVLink2 changes
2016-06-16 10:17:28 +10:00
Andrew Tridgell
145ab1d626
SITL: fixed send of ADSB_Vehicle packets with recent MAVLink2 changes
2016-06-16 10:15:07 +10:00
Tom Pittenger
0ed868d97b
SITL: compiler warning, comparing float to 0
2016-06-14 21:05:38 -07:00
Tom Pittenger
c3b241ca88
SITL: change ADSB_VEHICLE update rate to 1Hz instead of 2Hz to match PING behavior
2016-06-14 21:05:32 -07:00
Tom Pittenger
95da4accfb
SITL: add SIM_ADSB_COUNT, RADIUS, ALT params
2016-06-14 21:00:39 -07:00
Andrew Tridgell
9e9a048016
SITL: make heli RPM rpm1 in FlightAxis
2016-06-04 18:33:36 +10:00
Andrew Tridgell
79ffc28f68
SITL: fixed ground accel for helis in FlightAxis
...
fixes landing detection
2016-06-04 15:52:00 +10:00
Andrew Tridgell
7c227ac96c
SITL: debug code for logging raw SITL data
2016-06-04 14:21:21 +10:00
Andrew Tridgell
f6a7c1839a
SITL: use FlightAxis body accel
...
less noisy than rotating early accel
2016-06-04 14:20:55 +10:00
Andrew Tridgell
f6e42cb3e2
SITL: cope with restarting RealFlight while connected
2016-06-04 12:07:03 +10:00
Andrew Tridgell
9c13ac997e
SITL: use FlightAxis accel when not touching the ground
2016-06-04 11:34:57 +10:00
Andrew Tridgell
0b9fca6ef9
SITL: use quaternion attitude from FlightAxis
2016-06-04 11:04:15 +10:00
Andrew Tridgell
f4f0ae8c8b
SITL: auto-reconnect FlightAxis on reset button
2016-05-29 19:17:29 +10:00
Leonard Hall
e5bdf0a0a2
SITL: Single and Coax fixes
2016-05-29 16:12:13 +10:00
Andrew Tridgell
4c66e14563
SITL: fixed air resistance bug for heli, balloon and singlecopter
2016-05-26 20:38:20 +10:00
Randy Mackay
d26a9d4a22
SITL: fix compiler warning by defaulting frame_type
2016-05-26 17:03:28 +09:00
Andrew Tridgell
9f33ece3ef
SITL: support coax copter
2016-05-26 17:08:27 +10:00
Andrew Tridgell
8944d298ed
SITL: added SingleCopter simulator
2016-05-26 16:30:39 +10:00
Grant Morphett
52755c893d
Rover: Print message when running skid steering SITL
2016-05-24 12:24:53 +10:00
Tom Pittenger
c77a5e6764
SITL: rename aspd variables and params to arspd
2016-05-17 16:36:07 -07:00
Peter Barker
7510e4d0a7
SITL: setsid() when starting JSBSim so Ctrl-C doesn't kill it in GDB
2016-05-11 14:10:48 +10:00
Andrew Tridgell
88b910c13d
SITL: changed firefly motors to be suitable for a pixhawk
...
get channel groupings right
2016-05-11 05:55:25 +10:00
Andrew Tridgell
3e1cad5df2
SITL: adjust tricopter so default yaw servo values will work
2016-05-11 05:55:24 +10:00
Andrew Tridgell
48ca1a8d92
SITL: increase the mass of the plane to 2kg
...
less wafty in the air
2016-05-11 05:55:24 +10:00
Andrew Tridgell
9c90709872
SITL: fixed namespace of SITL classes
2016-05-11 05:55:23 +10:00
Andrew Tridgell
91abc636f4
SITL: fixed quadplanes with elevons
2016-05-11 05:55:23 +10:00
Andrew Tridgell
2d47ca8095
SITL: fixed moment of rotated motors
2016-05-11 05:55:23 +10:00
Andrew Tridgell
bd8cd71745
SITL: fixed fwd motor angles for tri and y6 frames
...
should be 60 degrees to have motors evenly spaced around frame for
equal lift per motor when level
2016-05-11 05:55:23 +10:00
Andrew Tridgell
125a9feb3d
SITL: added tilttri frame type
...
tiltrotor tricopter
2016-05-11 05:55:22 +10:00
dgrat
41661f815f
AP_Math: Replace the pythagorous* functions with a variadic template
...
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
2016-05-10 11:41:26 -03:00
Gustavo Jose de Sousa
9fa85d9bcf
SITL: add SIM_Calibration
...
That model can be used to run compass and accelerometer calibration by rotating
the vehicle through the servos channels.
2016-05-10 16:16:37 +10:00
Gustavo Jose de Sousa
45754ef37c
SITL: Multicopter: remove leftover comment
...
That went unnoticed by 8a98ce4
("SITL: moved to common code for attitude/pos
update")
2016-05-10 16:16:37 +10:00
Gustavo Jose de Sousa
ce8766e1cd
SITL: remove set_yaw_degrees()
...
That function isn't being used anywhere.
2016-05-10 16:16:37 +10:00
Andrew Tridgell
7cdab2a6c9
SITL: FlightAxis can support 8 channels
2016-05-04 13:05:43 +10:00
Andrew Tridgell
3b0cd9f101
SITL: added RC input from FlightAxis
...
use the interlink controller for input for 6 channels
2016-05-04 12:51:27 +10:00
Andrew Tridgell
68e17af070
SITL: allow for changing FlightAxis controller IP
2016-04-29 09:03:48 +10:00
Andrew Tridgell
e428d1e72d
SITL: support tricopter quadplanes
2016-04-28 22:36:53 +10:00
Andrew Tridgell
9e01d7de6c
SITL: added support for "quad-fast" frame
...
much more powerful copter for testing nav at high speed
2016-04-28 10:05:04 +10:00
Andrew Tridgell
785ad0614a
SITL: fixed coverity 125055
2016-04-26 16:46:06 +10:00
Andrew Tridgell
ed4e8b635a
SITL: fixed fd leak
...
coverity #125056
2016-04-26 16:43:54 +10:00
Andrew Tridgell
847483d744
SITL: fixed coverity warning
2016-04-26 16:37:17 +10:00
Andrew Tridgell
180a7905e5
SITL: make Z down in motors
2016-04-22 10:45:55 +10:00
Andrew Tridgell
aa80851138
SITL: support fireflyY6 quadplane model
2016-04-22 10:28:15 +10:00
Andrew Tridgell
8880635fe1
SITL: support vtail and elevon planes in builtin plane sim
...
remove old tiltrotor in favor of new tiltrotor code
2016-04-22 10:28:15 +10:00
Andrew Tridgell
b4d24d8e03
SITL: fixed rotations of motors by large angles
2016-04-22 10:28:15 +10:00
Andrew Tridgell
71ca534ec6
SITL: added Y6 frame
2016-04-21 21:11:38 +10:00
Andrew Tridgell
49822effca
SITL: added tricopter simulator
2016-04-21 20:29:49 +10:00
Andrew Tridgell
c262d6a1b4
SITL: break up multicopter into Motor/Frame/Multicopter classes
...
ready for more tiltrotors
2016-04-21 19:56:44 +10:00
Andrew Tridgell
57aef8e1e9
SITL: added basic wind support in multicopter, plane and quadplane
...
this adds non-turbulent wind support for the built-in simulators. I
added it primarily for quadplane testing, but it should also be useful
for multicopter navigation testing.
2016-04-20 11:48:37 +10:00
Grant Morphett
5861b754cc
Rover: fixing a bug the Rover simulation
...
Just a small change to ensure the max_wheel_turn parameter is used
instead of a hard coded value.
2016-04-14 08:55:04 +09:00
Andrew Tridgell
7dcd17a2fa
SITL: make multicopter motors only effective above 10%
2016-04-02 22:45:05 +11:00
Andrew Tridgell
73a2c99d56
SITL: limit rotational rate to 2000dps
2016-03-26 14:23:05 +11:00
Andrew Tridgell
1d42b0281a
SITL: ADSB: fixed heading and fixed windows startup
2016-03-18 11:18:19 +11:00
Andrew Tridgell
b0ac6c26e0
SITL: support octaquad in quadplane sim
2016-03-13 10:12:14 +11:00
Will Sackfield
8b5fa9d23d
SITL: Initialise yaw_rate and pitch_rate
...
* Clang requires these variables to be initialized
2016-02-29 14:14:37 +11:00
dgrat
5148e41c1a
AP_Math: Cleaned macro definitions
...
Moved Definitions into a separate header. Replaced PI with M_PI and
removed the M_PI_*_F macros.
2016-02-27 02:51:33 -03:00
Tom Pittenger
faa4238370
SITL: fixed warning comparing signed vs unsigned
2016-02-23 10:32:48 -08:00
Tom Pittenger
f20841f491
SITL: add reverse thrust to Plane Sim
2016-02-09 14:18:01 +11:00
Tom Pittenger
1f714ed75d
SITL: handle negative throttle
...
- negative throttle was causing negative offsets
2016-02-09 14:18:01 +11:00
Andrew Tridgell
d820eeaec6
SITL: use AP_Motors conventions for multicopters
...
this makes it easier to add a simulated vehicle to match a
MotorsMatrix frame type
2016-02-08 10:58:56 +11:00
Andrew Tridgell
5efe98a814
SITL: allow quadplane simulator to simulate other frame types
2016-02-08 09:17:22 +11:00
Andrew Tridgell
e62d6711c3
SITL: added very simple tiltrotor simulation
...
uses channel 9 to control tilt of rotors
2016-01-30 09:45:43 +11:00
Andrew Tridgell
6baae735de
SITL: updated fixed wing model based on last_letter skywalker_2013
...
many thanks to Georacer for this code!
2016-01-20 17:23:36 +11:00
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
Andrew Tridgell
7a7bd0607f
SITL: first version of FlightAxis SITL support
2016-01-09 07:38:51 +11:00
Andrew Tridgell
2777ff63ba
SITL: heli-sim: prevent ground rotation and reduced affect of ground impact
2016-01-06 21:59:56 +11:00
Andrew Tridgell
62b2a2117d
SITL: only report ground contact at most once per second
2016-01-05 09:47:58 +11:00
Andrew Tridgell
0966398d8d
SITL: improved realism of fixed wing sim somewhat
...
still not good, but a bit better for manual flight
2016-01-04 08:03:46 +11:00
Andrew Tridgell
22873ee687
SITL: reduced drag in plane model
2016-01-01 18:40:22 +11:00
Andrew Tridgell
619a4c0925
SITL: use common dynamics code for QuadPlane
2016-01-01 17:20:30 +11:00
Andrew Tridgell
33998a58ac
SITL: prevent aircraft going below ground level
2016-01-01 17:01:23 +11:00
Andrew Tridgell
d425965f6d
SITL: expose home yaw to FDMs
2016-01-01 17:00:57 +11:00
Andrew Tridgell
630d4410d4
SITL: removed debug code from QuadPlane
2016-01-01 15:48:56 +11:00
Andrew Tridgell
8a98ce427c
SITL: moved to common code for attitude/pos update
2016-01-01 15:12:33 +11:00
Andrew Tridgell
f2c8193f8b
SITL: added a QuadPlane model
2016-01-01 14:35:15 +11:00
Andrew Tridgell
6f9e9d761f
SITL: move calculations into multicopter frame class
...
this will enable a QuadPlane model
2016-01-01 14:35:15 +11:00
Andrew Tridgell
fcfd11ef53
SITL: very simple fixed wing simulator
...
useful for debugging
2016-01-01 12:41:05 +11:00
Tom Pittenger
37054d9571
SITL: update units for new adsb mavlink msg
2015-12-09 14:36:30 +11:00
Tom Pittenger
7236b48518
SITL: compiler warning: double to float demotion
...
- replace atof() with strtof() for the correct return time
2015-12-08 14:54:58 +09:00
Tom Pittenger
55f84e9c05
SITL: update ADSB for squawk
2015-12-01 17:13:02 -08:00
Andrew Tridgell
2804434596
SITL: update ADSB for new format
2015-11-26 10:25:18 +11:00
Tom Pittenger
f88de986bc
SITL: created ADSB simulator to generate additional ghost aircraft within SITL
...
The values are very aggressive, you'll come into contact with another aircraft very soon
Credit goes to Tridge for this work
This feature is enabled with the following command:
sim_vehicle -A --adsb
2015-11-23 19:45:40 +11:00
Andrew Tridgell
77a67d73e7
SITL: fill in RPM from JSBSim
2015-11-23 14:30:47 +11:00
Andrew Tridgell
223ce2b6aa
SITL: allow FDM models to provide voltage, current and RPM
2015-11-23 13:46:27 +11:00
Andrew Tridgell
8b456be8c6
SITL: added battery voltage and rpm to SITL state
2015-11-23 13:31:09 +11:00
Andrew Tridgell
585e6dabb8
SITL: FDM structure is no longer a network protocol structure
...
remove unused fields and change comments
2015-11-23 13:25:00 +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
Robert Lefebvre
4f7246c432
SITL: Helicopter parameter updates
2015-11-12 19:37:38 +09:00
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
Andrew Tridgell
724f5511aa
SITL: support multiple jsbsim aircraft types
...
use -f jsbsim:ModelName
2015-10-27 10:01:34 +11:00
Caio Marcelo de Oliveira Filho
11b599bcd0
SITL: use #pragma once
...
For the general case, pragma once is better replacement for of include
guards. One line instead of three, less scopes to close in the end of
the file, no chance to having the outdated names in the define symbol.
2015-10-22 13:36:19 -02:00
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
8a55b26443
SITL: no need to use #ifdefs
...
Now that SITL is compiled only when it's needed (i.e. using the SITL
board), there's no need to ifdef its files based on the
CONFIG_HAL_BOARD. So remove them.
2015-10-22 13:36:19 -02:00
Caio Marcelo de Oliveira Filho
e2fa456742
SITL: remove "constructor" comment
2015-10-22 11:16:39 -02:00
Caio Marcelo de Oliveira Filho
5ddd802320
SITL: use coding style in class declarations
2015-10-22 11:15:34 -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
Andrew Tridgell
05876b7e1b
SITL: Changed Rover to SimRover
...
this avoids the rover crash in master
2015-10-21 22:04:19 +11:00
Andrew Tridgell
b9aad88d17
SITL: moved ignition to channel 6
2015-09-29 10:59:41 +10:00
Andrew Tridgell
76aa1a9704
SITL: ensure zero rotor speed with ignition off in gas heli
2015-09-14 12:46:04 +10:00
Michael Oborne
b861233677
AP_HAL_SITL: add file based gps
2015-09-03 19:43:31 +10:00
Andrew Tridgell
a3d7156f28
SITL: raise default simulation rate to 1200Hz
...
this greatly improves things for the heli sim
2015-09-01 16:34:20 +10:00