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84 Commits

Author SHA1 Message Date
Mark Whitehorn db1c7d9bdd SITL: add support for AHRS_ORIENTATION=ROTATION_CUSTOM 2020-04-28 10:57:26 +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
Peter Barker 59dfaad749 SITL: provide method to retrieve desired speedup 2020-04-07 14:51:32 +10:00
Andy Piper c0c61660b0 SITL: quadplane updates 2020-02-22 11:15:37 +11:00
Mark Whitehorn 76b985fc9c SITL: only recalculate ahrs rotation matrix if necessary 2019-12-17 11:42:40 +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
Peter Barker 990273a778 SITL: add accessor for rangefinder range 2019-11-08 20:12:28 +11:00
Peter Barker 32ec6d7e9a SITL: add a simulated buzzer 2019-10-16 16:00:35 +11:00
Peter Barker 169013cae2 SITL: allow starting location to come from parameters 2019-08-15 18:00:35 +10:00
Peter Barker f7b47679bb SITL: remove home_str from constructor 2019-08-15 15:16:11 +10:00
Anthony Velte 92a9ab6c6d SITL: Add scrimmage simulator support 2019-08-13 10:07:26 +10:00
Andrew Tridgell 5c3afa2621 SITL: use AP_Math/definitions.h 2019-07-13 11:05:57 +10:00
Michael du Breuil b7bca441e5 SITL: Fix a number of includes that were coming in via AP_Airspeed 2019-06-27 14:56:21 +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
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
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 8d86b6fbee SITL: added support for laser scanner for Morse 2018-12-04 18:29:41 +11:00
Pierre Kancir 37f7cc4bcf SITL: rearrange Grippers and Sprayers in SITL 2018-07-31 23:34:43 +10:00
Peter Barker dfcf4788d3 SITL: add vicon-over-mavlink support 2018-03-27 20:28:52 +09:00
Peter Barker 0d77cfb6c3 SITL: method to return current vehicle location 2018-03-27 20:13:03 +09:00
Andrew Tridgell 6a89fdf268 SITL: use AP_Declination for magnetic tables 2018-02-08 17:36:33 +11:00
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
Andrew Tridgell 917d9842c4 SITL: support AHRS_ORIENTATION in SITL 
this allows for tailsitters in RealFlight
 2017-11-23 14:26:11 +11:00
Andrew Tridgell c5cd1b873c SITL: use thread for FlightAxis comms 
this allows us to run SITL at a much higher framerate than RF can
provide, and results in the EKF being much happier
 2017-10-21 11:57:59 +11:00
Andrew Tridgell 74265f523a SITL: support -roll180 option to frames 2017-10-10 10:57:38 +11:00
Pierre Kancir b176ba53d7 SIM_Aircraft: move advance in time from update_position to time_advance 2017-06-07 20:29:02 +10:00
Pierre Kancir 579f655e76 SIM_Aircraft: change define in favor of static constexpr 2017-06-07 20:29:02 +10:00
Pierre Kancir 148e84320b SITL: Sim_aircraft correct style 2017-06-07 20:28:25 +10:00
Pierre Kancir 599e3d7b83 SITL: make range finder a standalone sitl plugin 2017-06-07 20:28:25 +10:00
Pierre Kancir ee7355a301 SITL: Reduce some variables scope and include 2017-03-18 19:58:11 +11:00
Pierre Kancir 8054405521 SITL: Change interface port to a generic solution for external simulator 2017-03-18 19:58:11 +11:00
Pierre Kancir 63ea8c6f21 SITL: enable multi sitl for gazebo 2017-03-18 19:58:11 +11:00
jaxxzer b98573d55f SITL: Improved Sub simulation 
-Constrain z axis movement between -100m (seafloor) and 0m (water
surface)
-More accurate thruster modelling
 2017-03-07 09:35:41 +11:00
Andrew Tridgell 3c8020862c SITL: support a builtin tailsitter vehicle type 2017-02-18 17:26:43 +11:00
Pierre Kancir bf135aeff7 SITL: Aircraft correct some syntax, implicit cast, make some local variable const, remove tabs and whitespace 2016-12-19 14:53:17 +00:00
Peter Barker b751f836bb SITL: attach a string with a mass on the end to servo gripper 2016-12-02 12:04:05 +11:00
Peter Barker f8918d15b1 SITL: add a hagl method to aircraft 2016-12-02 12:04:05 +11:00
Peter Barker f1c23dc9be SITL: remove argument to on_ground 
This was always the current position
 2016-12-02 12:04:05 +11:00
Peter Barker e24f3f9419 SITL: correct on-ground correction 
Using the cached ground_height_difference may mean
you end up at the wrong height if you were near
the edge of an SRTM square and had high horizontal
velocity
 2016-12-02 12:04:05 +11:00
ori ganoni 631b5c3ebc adding turbulance to SITL 2016-11-17 20:06:35 -08:00
Peter Barker 1997a4e044 SITL: include mass of sprayer payload in vehicle mass 2016-10-29 15:02:56 +09:00
priseborough d830f68901 SITL: Add angular acceleration to simulator states 
The calculation used is an approximation to work around the lack of angular acceleration in the interface with the flight dynamics model.
 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
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 e7a54c83d1 SITL: allow SITL to use terrain data for ground height 2016-07-19 14:42:31 +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