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258 Commits

Author SHA1 Message Date
Andrew Tridgell 0f6e7a1449 pysim: implement partial 3D acceleration support 
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
Andrew Tridgell f1acdb13c2 pysim: added experimental acceleration support 2012-03-23 16:48:52 +11:00
Andrew Tridgell 5f3e2cf98a 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 4407f6b8ca 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 9cba330eed 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 accc5dc02f autotest: run fg viewers with less CPU priority 2012-03-10 10:34:27 +11:00
Andrew Tridgell 5e66d3cecb autotest: added CMAC test circuit 
this is what I am using for noise testing
 2012-03-10 10:34:27 +11:00
Andrew Tridgell 57971e0ddf autotest: fixed xAccel calculation in fakepos.py 2012-02-25 11:37:20 +11:00
Jason Short c10778d685 Better throttle for tests 2012-02-19 15:06:54 -08:00
Jason Short 11dd9564d9 SIMPLE mode throttle fix 2012-02-19 14:21:27 -08:00
Andrew Tridgell e5ec810c92 autotest: fixed check of return code for build_all.sh 2012-02-20 09:17:08 +11:00
Andrew Tridgell c3d6e64efb autotest: fixed directory for build_all.sh 2012-02-20 08:41:40 +11:00
Jason Short 1c9bb25f09 AP TEST fixes for new throttle control 2012-02-19 12:38:57 -08:00
Andrew Tridgell 4a766e1abd 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 9700afaf10 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 66b95c14c5 autotest: added build_all.sh to autotest 2012-02-19 17:05:28 +11:00
Andrew Tridgell 92b3f86996 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 ffa3330f93 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 3e7cc2499b 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 090068bee4 autotest: use more rudder for steering 
this helps the landing a lot
 2012-02-14 15:16:35 +11:00
Andrew Tridgell 1e7d3f5d48 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 d62cc01b65 autotest: adjusted APM parameters 
enable compass and tweak tuning
 2012-02-14 11:26:42 +11:00
Andrew Tridgell 8f18d08eb5 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 27cd2893af autotest: fixed the directory that the git hash is fetched in 2012-02-14 09:06:24 +11:00
Andrew Tridgell d574c78c2c autotest: fixed displayed git hash in autotest 2012-02-13 20:29:55 +11:00
Andrew Tridgell 669516cb15 autotest: fixed git hash parsing 2012-02-13 18:02:35 +11:00
Andrew Tridgell d5b96fe9bd make it easy to run simulator under valgrind 2012-02-13 16:22:53 +11:00
Jason Short 9c5f77926f to speed up testing suite 2012-01-28 22:52:39 -08:00
Jason Short 973b0b72c5 Landing now disarms automatically. 2012-01-28 22:52:17 -08:00
Jason Short d11eaa9265 Tweaks 2012-01-10 23:43:44 -08:00
Jason Short 7890b784b2 Added altitude 2012-01-10 23:42:26 -08:00
Jason Short 351be7c305 Made timer unsigned 2012-01-10 23:42:26 -08:00
Andrew Tridgell 861222f81d autotest: cope with startup messages in a different order 2012-01-09 18:09:04 +11:00
Andrew Tridgell 06b16a156e autotest: make history pages use the css style 2012-01-09 18:09:04 +11:00
Jason Short 0be68e679b updated throttle to keep altitude 2012-01-07 22:27:25 -08:00
Jason Short 431d472695 enabled failsafe on SIM parameters 2012-01-06 10:22:26 -08:00
Jason Short c1314bc814 Added failsafe test 2012-01-06 10:22:13 -08:00
Jason Short 6d827d0087 Added RTL with Auto_land test 
Fixed Simple Mode test
 2012-01-05 22:13:20 -08:00
Jason Short 193848cea6 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 fa2d84e557 Looking for larger than 255 numbers 2012-01-04 09:51:36 -08:00
Andrew Tridgell 2a3d4efb38 pysim: support octax 2012-01-04 22:15:17 +11:00
Andrew Tridgell 64b541037e autotest: change to an octa frame for autotest 
this will be a useful experiment
 2012-01-04 22:03:37 +11:00
Andrew Tridgell efa649e51a autotest: fix for new sim_multicopter.py command 2012-01-04 21:49:19 +11:00
Andrew Tridgell 9df96d0e07 pysim: added more frame types 2012-01-04 21:45:58 +11:00
Andrew Tridgell eab1ae59d0 pysim: accept frame type in sim_arducopter.sh 2012-01-04 19:34:28 +11:00
Andrew Tridgell 45b4e07776 pysim: show frame type at startup 2012-01-04 19:34:11 +11:00
Andrew Tridgell ed5c9d4c47 rename sim_quad.py to sim_multicopter.py 2012-01-04 19:14:42 +11:00
Andrew Tridgell ba9423f7de pysim: added --frame option 2012-01-04 19:13:47 +11:00
Andrew Tridgell 1670f1f65b pysim: generalise the quadcopter code for multicopters 
this allows for arbitrary multicopter motor arrangements
 2012-01-04 19:13:15 +11:00
Jason Short 986b42a45b Fixed Loiter Timeout bug, added more wind by default. 2011-12-29 23:02:02 -08:00
Jason Short a9e1e9a8db Turn off Super Simple by default 2011-12-29 23:02:02 -08:00
Jason Short a29aa020ff Made wind not reverse itself to be more natural 2011-12-29 23:02:02 -08:00
Andrew Tridgell ddab189e42 autotest: update copies of pymavlink in autotest 2011-12-29 08:30:08 +11:00
Andrew Tridgell 8b9eb0dad1 autotest: fixed arducopter autotest 
no longer says "Please run setup"
 2011-12-26 20:10:10 +11:00
Jason Short 5038fcecd8 Added more detail 2011-12-23 14:42:49 -08:00
Jason Short c9b2d1c3c2 Added fix for Takeoff Test 2011-12-23 14:42:49 -08:00
Andrew Tridgell d626fcb52f added a copy of fdpexpect 2011-12-23 12:20:58 +11:00
Andrew Tridgell 30425063d8 more errno fixes for MacOS 2011-12-23 12:07:32 +11:00
Andrew Tridgell d007ee996d fixed errno handling for MacOS 2011-12-23 11:59:25 +11:00
Andrew Tridgell e4ed3cb583 fixed typo in fly_simple() 2011-12-22 10:25:31 +11:00
Andrew Tridgell ab40539a76 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 86b86c1bdf autotest: bit more throttle on takeoff 
needed for increased rolling friction
 2011-12-19 11:25:59 +11:00
Andrew Tridgell 991ce9077c 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 5dd453e535 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 345093e982 autotest: make the Rascal a tail dragger again 
good for testing wheeled takeoff
 2011-12-18 18:57:20 +11:00
Andrew Tridgell 42d7bf7fce autotest: added automated landing test for ArduPlane 2011-12-18 17:31:46 +11:00
Andrew Tridgell ac5a76715b autotest: updates ArduPlane parameters 2011-12-18 17:31:45 +11:00
Andrew Tridgell 882b4cd739 autotest: fixed prog name 2011-12-16 20:10:12 +11:00
Andrew Tridgell b1f912a355 autotest: fixed working directory in sample scripts 2011-12-16 20:10:07 +11:00
Jason Short e6fd8a689e added SuperSimple and notes 2011-12-15 20:51:41 -08:00
Jason Short ced4cf1538 testing updates 2011-12-15 20:51:41 -08:00
Jason Short 6e81b1a6f8 Added new tests 2011-12-15 20:51:41 -08:00
Jason Short da8d342a08 Added Land control_mode 2011-12-15 20:51:41 -08:00
Jason Short 88b3708dcf added altitude to circle mission 2011-12-15 20:51:40 -08:00
Andrew Tridgell eac97725f5 autotest: fgrate option has been removed from mavproxy 2011-12-13 21:34:53 +11:00
Andrew Tridgell d68abb99a8 loosen RTL criterion (wind affected) 2011-12-13 20:05:39 +11:00
Andrew Tridgell 8847ee518d autotest: fixed loiter hold time 
hold time was larger than the timeout
 2011-12-13 19:08:47 +11:00
Andrew Tridgell bb50154f1c autotest: fixed wind specification for arduplane test 2011-12-13 19:04:00 +11:00
Andrew Tridgell 2cc67d0a61 autotest: added a 5m/s wind blowing south in plane test 2011-12-13 15:29:13 +11:00
Andrew Tridgell ad6c90c3b9 autotest: added wind support to ArduPlane simulation 2011-12-13 15:28:03 +11:00
Andrew Tridgell 35e45fefc9 autotest: show groundspeed in flightgear display 
useful with wind
 2011-12-13 15:27:32 +11:00
Andrew Tridgell 2c7e74b7a1 autotest: example startup scripts for simulators 2011-12-13 13:50:06 +11:00
Andrew Tridgell 77c791fb79 autotest: improved runsim defaults 2011-12-13 13:45:18 +11:00
Andrew Tridgell 6520c7be1b autotest: changed default sim_quad rate to 400Hz (matches autotest 
script)
 2011-12-13 13:44:53 +11:00
Jason Short c58e9e9135 more control over loiter time and alt change 2011-12-12 17:47:46 -08:00
Andrew Tridgell 2c0e4c1c02 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 da43b85422 autotest: added a test script for wind generation 
this makes it easier to experiment
 2011-12-13 10:36:52 +11:00
Andrew Tridgell 37641d2576 autotest: added a 2m/s wind from east to quadcopter test 2011-12-13 10:36:52 +11:00
Andrew Tridgell 228d1620d2 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 a58e81469f autotest: added a wind generation class 2011-12-13 10:36:52 +11:00
Andrew Tridgell bb6e582ce7 autotest: fixed motor order display 2011-12-12 23:14:29 +11:00
Andrew Tridgell a3403aeb6c autotest: added logging of what failed 2011-12-12 23:08:20 +11:00
Andrew Tridgell de1a5ab9ce 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 7301a8bddd pysim: added rotational resistance 2011-12-12 22:08:10 +11:00
Andrew Tridgell ef8ed6aab2 autotest: calibrate accelerometers at startup 2011-12-12 22:07:53 +11:00
Andrew Tridgell 420bb9cc75 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 12a271d4b2 autotest: nicer display in FG quadcopter view 2011-12-12 21:01:32 +11:00
Jason Short 9e6cf529b9 Cleaned up mission 3 2011-12-10 20:43:39 -08:00
Jason Short f4a57557a8 Simple square test 2011-12-10 10:19:20 -08:00
Andrew Tridgell 5130a37a9e 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