Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-02 14:13:42 -04:00
Code Issues Packages Projects Releases Wiki Activity
59,373 Commits 71 Branches 509 Tags 744 MiB
65ced84a0e
Commit Graph

1062 Commits

Author SHA1 Message Date
Mirko Denecke
899335e30b SITL: fix DisplayName and description of parameter 2020-02-18 09:29:47 +11:00
Mirko Denecke
2f435d5099 SITL: fix DisplayName and description of parameter 2020-02-18 09:29:15 +11:00
ashvath
66f123e2b4 SITL: Example for skid rover 2020-02-13 09:04:32 +11:00
ashvath
774b79e632 SITL: Parameters for skid rover 2020-02-13 09:04:32 +11:00
ashvath
5e2b693be4 SITL: Parameters for steering/throttle rover 2020-02-13 09:04:32 +11:00
ashvath
677dec5894 SITL: example for steering/throttle rover 2020-02-13 09:04:32 +11:00
ashvath
71f8c7cabb SITL: support for steering/throttle rover 2020-02-13 09:04:32 +11:00
Peter Barker
0cf747cdbe SITL: remove RCMAP_ parameters from SilentWings parameters 
These files contain a lot of values which happen to be the defaults.
These are some of them.
 2020-02-10 13:55:05 +11:00
Rishabh
dc662a56b2 SITL: Added DJI Hexa and Octa for SITL 2020-01-29 16:57:23 +09:00
Andrew Tridgell
fb3496b63b SITL: added SIM_GPS2_POS 
and re-arrange two sets of GPS parameters to be arrays
 2020-01-26 16:55:17 +11:00
Rajat Singhal
6bbf6f380f SITL: Add rover support for Airsim 2020-01-23 15:12:50 +11:00
Andrew Tridgell
dc80df23e9 SITL: added betaflight-rev-x frame 2020-01-16 19:13:13 +11:00
Andrew Tridgell
6218537ff7 SITL: fixed segv in SITL RCProtocolTest 2020-01-09 17:38:52 +11:00
Peter Barker
2f60f783d4 SITL: add simulated Frsky devices 2020-01-08 23:53:48 +11:00
Rajat Singhal
552191925b SITL: Add OA BendyRuler params for Airsim Lidar, rename file 2020-01-08 09:10:54 +09:00
Peter Barker
4cc7df8e15 SITL: emit hit-ground via mavlink 
This lets autotest look for it
 2020-01-01 22:10:43 +11:00
Andy Piper
a6a020b3c7 SITL: record throttle value instead of motors on/off 2019-12-31 10:34:02 +11:00
Andrew Tridgell
9b4764eb1f SITL: fixed airsim example scripts 2019-12-17 15:40:00 +11:00
Andrew Tridgell
061d778bfd SITL: improved AirSim quadX tuning 
and move params to normal location, so they are found with
sim_vehicle.py
 2019-12-17 15:40:00 +11:00
Andrew Tridgell
d657fed34a SITL: fixed accuracy of lat/lon in AirSim 2019-12-17 15:40:00 +11:00
Mark Whitehorn
76b985fc9c SITL: only recalculate ahrs rotation matrix if necessary 2019-12-17 11:42:40 +11:00
Mark Whitehorn
ab33679124 SITL: include ahrs_orientation in airspeed calculation 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
Rajat Singhal
d34ccec084 SITL: Fix sensor data calculation in Airsim 2019-12-17 08:11:27 +11:00
Peter Barker
deadafd7c7 SITL: use https:// scheme for ardupilot URLs 2019-12-10 07:53:46 +11:00
Ebin
3daebe974e SITL: Fix for unrealistic speed and acceleration in Balance Bot 2019-12-09 09:00:31 +11:00
Rajat Singhal
a1e1558709 SITL: Test launch file for ROS multi-vehicle sim 2019-12-05 08:06:42 +08:00
Rajat Singhal
241d406ef3 SITL: Example script for ROS multi-vehicle with Airsim 2019-12-05 08:06:42 +08:00
Rajat Singhal
6a075b2556 SITL: Fixes, improvements to Airsim multi-vehicle script 
1. Kill all running Copter binaries while exiting
2. Set default GCS IP address
3. Fix mcast ip address for different platforms
4. Set variable for number of vehicles
 2019-12-05 08:06:20 +08:00
Willian Galvani
06e71b061a SITL: Sub: add square curve model to thruster 2019-12-03 10:55:08 -05:00
Andrew Tridgell
7b203f6816 SITL: added SIM_MAG_SCALING for testing scale factor errors 2019-12-03 20:48:23 +11:00
Peter Barker
d332118b05 SITL: increase Wasp reading frequency 
The driver requires a reading each time it is called (20Hz)
 2019-12-02 19:07:03 +11:00
Michael du Breuil
feead0a42c SITL: ADSB: Don't hard code the emitter type 2019-11-26 11:57:29 +11:00
Peter Barker
326ba5b974 SITL: support for virtual hardware safety switch 2019-11-26 10:14:11 +11:00
Andrew Tridgell
4d50996780 SITL: added MegaSquirt EFI simulation 2019-11-17 20:10:54 +11:00
Patrick José Pereira
e52fc375c4 Sub: Add fake sea floor and update range 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-11-12 10:02:29 -08:00
Willian Galvani
168a182310 SITL: Sub: add angular drag based on a laminar, external flow 2019-11-11 07:39:57 -08:00
Willian Galvani
393b018f31 SITL: Sub: Fix rotational physics logic 2019-11-11 07:39:57 -08:00
Willian Galvani
fbbfbe0103 SITL: Sub: Use proper phyisics for thrusters 2019-11-11 07:39:57 -08:00
Willian Galvani
9c2ffed876 SITL: Submarine: add torque for static stability 
Subs are statically stable regarding pitch and roll.
This patch reproduces this in SITL
 2019-11-11 07:39:57 -08:00
Willian Galvani
394aff6535 SITL: add deadzones to Sub thrusters PWM signals 2019-11-11 07:39:57 -08:00
Willian Galvani
1e2340fbb4 SITL: Fix buoyancy direction for earth-frame 
Previously the sub would just go upwards, so rolling it 180º caused it to sink
 2019-11-11 07:39:57 -08:00
Willian Galvani
e190d99bc6 SITL: Add 6dof frame for Sub 2019-11-11 07:39:57 -08:00
Willian Galvani
cc45aeb526 SITL: get rid of frame_vectored.h for Sub 2019-11-11 07:39:57 -08:00
Peter Barker
c1acdc4994 SITL: increase simulated rangefinder frequency to 5Hz 2019-11-09 08:01:53 +11:00
Peter Barker
7b046c8b75 SITL: improve testing instructions for simulated rangefinders 2019-11-09 08:01:53 +11:00
Peter Barker
df0233a7d1 SITL: add support for simulated serial rangefinders 
SITL: add base class for serial rangefinder simulators

SITL: add Benewake rangefinder simulator

SITL: add support for simulated LightWareSerial rangefinder

SITL: add support for simulated Lanbao rangefinder

SITL: add support for simulated BLping rangefinder

SITL: add support for simulated LeddarOne rangefinder

SITL: add support for simulated uLanding rangefinders

SITL: add support for simulated MaxsonarSerialLV rangefinders

SITL: add support for simulated Wasp rangefinders

SITL: add support for simulated NMEA rangefinders
 2019-11-08 20:12:28 +11:00
Peter Barker
990273a778 SITL: add accessor for rangefinder range 2019-11-08 20:12:28 +11:00
Peter Barker
270831d70d SITL: add bidirectional communication for simulated serial devices 2019-11-08 20:12:28 +11:00
Peter Hall
3d8a5de1f0 SITL: ADSB: pass home location not string 2019-11-05 11:46:59 +11:00
Peter Barker
acd03c6636 SIM_AirSim: correct format string issue 2019-11-05 11:29:08 +11:00
Andrew Tridgell
ae289052e9 SITL: added LED state 2019-11-04 13:01:59 +11:00
Peter Barker
a08443ff19 SITL: break out a SIM_SerialDevice base class, use it for SIM_Vicon 2019-10-29 18:41:13 +11:00
Patrick José Pereira
e18883fddf SITL: Add missing shove forces in SIM_Submarine 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-10-29 09:44:24 +11:00
Tom Pittenger
bbd6f3aa6c SITL: morse simulator should generate packets from same vehicle sysid 2019-10-21 14:29:30 +09:00
Peter Barker
47fbf70e85 SITL: create SITL tonealarm files to hold enable parameter 2019-10-16 16:00:35 +11:00
Peter Barker
32ec6d7e9a SITL: add a simulated buzzer 2019-10-16 16:00:35 +11:00
Ebin
f6c7ac88d0 SITL: Yaw rate calculation uses wheel offset 2019-10-07 07:31:53 +11:00
mhefny
92d55fa126 SITL: removed unnecessary files of webots 2019-09-30 04:46:38 +10:00
mhefny
8310058c8c SITL: adding Tricopter model in Webots 2019-09-25 13:34:47 +01:00
Andrew Tridgell
d2e75717b8 SITL: added a MotorBoat class 
a sailboat with zero sail area
 2019-09-23 17:22:01 +10:00
Andrew Tridgell
3d9f393f4b SITL: added SIM_LOOP_DELAY parameter 
this allows us to test high CPU load conditions by adding a delay to
each loop
 2019-09-19 18:25:20 +10:00
mhefny
375510ecc2 SITL: adding wind simulation in Webots 2019-09-12 13:22:26 +10:00
mhefny
bfb7e3af3b SITL: sending wind data to Webots controller 2019-09-12 13:22:26 +10:00
Rajat Singhal
5147b607c0 SITL: Correct Airsim params 2019-09-11 08:28:28 +10:00
Randy Mackay
d4b047fc1f SITL: Gripper_EPM compiler warning resolved by using float and fabsf 2019-09-10 09:15:56 +10:00
Randy Mackay
1fd7618238 SITL: remove unused time_diff member 2019-09-10 09:15:56 +10:00
Rajat Singhal
80bbadf9ca SITL: AirSim: Store last timestamp only 
Also change the datatype of deltat
 2019-08-29 08:32:19 +10:00
Rajat Singhal
86a70e5797 SITL: Remove redundant timestep in Airsim backend 2019-08-29 08:32:19 +10:00
Rajat Singhal
c056548f0d SITL: Enable Arming Checks in airsim-copter params 2019-08-29 08:32:19 +10:00
Michael du Breuil
fe279b03b6 SITL: Directly include needed headers 2019-08-28 13:13:03 +10:00
Andrew Tridgell
4ca48f225d SITL: send vicon data at 70ms intervals 
this matches the max rate that EK2 will accept this data
 2019-08-26 12:27:31 +10:00
Randy Mackay
257152aa55 SITL: sailboat motor enabled only for sailboat-motor frame 2019-08-21 19:34:13 +09:00
Randy Mackay
0ce1ce9c4f SITL: minor format changes for sailboat 2019-08-21 19:34:13 +09:00
mhefny
1e41f7cc61 SITL: add Webots support and examples 2019-08-19 19:36:25 +10:00
Rajat Singhal
ad9093251e SITL: Remove unused includes 2019-08-15 20:03:31 +10:00
Rajat Singhal
4e847342b1 SITL: Add license info in Airsim files 2019-08-15 20:03:31 +10:00
Peter Barker
169013cae2 SITL: allow starting location to come from parameters 2019-08-15 18:00:35 +10:00
Peter Barker
24405f1b23 SITL: correct and add comment 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
Peter Hall
4afcc9c289 SITL: sailboat allow motor sailing 2019-08-14 09:26:01 +09:00
Anthony Velte
92a9ab6c6d SITL: Add scrimmage simulator support 2019-08-13 10:07:26 +10:00
Peter Hall
2a3676003a SITL: sailboat add tide 2019-08-07 14:34:07 +09:00
Peter Hall
90bf224e7f SITL: sailboat add wave simulation and parameters 2019-08-07 14:34:07 +09:00
Andrew Tridgell
9672dce335 SITL: switch vicon simulation to use VISION_POSITION_ESTIMATE 
this is a more commonly used message
 2019-08-05 13:58:08 +10:00
Rajat Singhal
bd9120b725 SITL: Add script for multi-vehicle sim with AirSim 2019-08-04 07:57:46 +10:00
Rajat Singhal
8e7ab23b4f SITL: Add RC support for Airsim 
Adds variable length float array parsing
 2019-08-04 07:57:46 +10:00
Rajat Singhal
2954f2b4d0 SITL: Delete Airsim Readme 
Wiki Page has been added - http://ardupilot.org/dev/docs/sitl-with-airsim.html
 2019-08-04 07:57:46 +10:00
Rajat Singhal
ad5d3cb9f1 SITL: Add Airsim quadx lidar params 2019-08-04 07:57:46 +10:00
Rajat Singhal
2d25971801 SITL: Add Lidar Sensor for Airsim 
Adds variable length array of vector3f parsing
 2019-08-04 07:57:46 +10:00
Tom Pittenger
2dba187d30 SITL: Morse scanner lidar to use larger MAVLink msg instead of raw data squeezed into 8 sectors 2019-08-02 09:50:13 -06:00
Tom Pittenger
3f99def25a SITL: fix Morse simulator camera and changed default mission to indoor 2019-08-02 09:50:13 -06:00
Leonard Hall
fb790cadda Tools: update parameter files after PID upgrade 2019-07-25 17:38:15 +09:00
Peter Barker
81222fbde0 SITL: correct RC2_REV to RC2_REVERSED in comment 2019-07-24 13:36:26 +09:00
Josh Prochaska
6440069e7c SITL: include replace.h for AirSim to fix missing memrchr() on MacOS 2019-07-19 15:43:39 +10:00
Rajat Singhal
825c027f95 SITL: Added initial Airsim QuadX parameter file 2019-07-17 07:26:50 +10:00
Rajat Singhal
864f99f247 SITL: Added Readme for Airsim setup & usage 2019-07-17 07:26:50 +10:00
Rajat Singhal
ffbfdbf1df SITL: Added support for Airsim simulator 
Supports Lock-Step Scheduling, has JSON sensor packet parsing
 2019-07-17 07:26:50 +10:00
Andrew Tridgell
5c3afa2621 SITL: use AP_Math/definitions.h 2019-07-13 11:05:57 +10:00
Grant Morphett
2ce7955614 SITL: Create gps_hdt_enabled varible for enable/disable HDT GPS sentence 2019-07-13 11:05:57 +10:00
Peter Barker
a966c75deb SITL: remove unused forward declaration of AP_Logger 2019-07-09 10:57:20 +10:00
Peter Barker
e01ea2f5f9 SITL: support a count of baros 2019-07-09 10:01:23 +10:00
U-REDMOND\akolobov
3330b62d3c SITL: aded support for SilentWings simulator 2019-07-08 09:32:59 +10:00
Andrew Tridgell
626c632859 SITL: fixed pitch constraint on fixed wing takeoff 
fixes issue with jet takeoff
 2019-07-05 20:12:22 +10:00
Rajat Singhal
82413a1528 SITL: JSBSim: Fix comments 2019-07-03 23:58:22 -07:00
Andrew Tridgell
2eb09b2910 SITL: simple implementation of a fast jet 
just increase the weight and the rest can be done with params
 2019-07-03 08:05:09 +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 Hall
5839c1ebf6 SITL: Sailboat: write rpm and airspeed for windvane backends 2019-05-28 08:35:58 +09:00
Rajat Singhal
8097b0ede3 SITL: Gazebo: Fixed comment, typos 2019-05-23 08:23:37 +09:00
Rajat Singhal
2c519d5176 SITL: Fix to sync to JSBSim simulation time 
SITL: Additional fix to remove time-lag in JSBSim
 2019-05-10 17:12:52 +10:00
Rajat Singhal
dedb7e108f SITL: Added <time> tag to JSBSim output directive 
Instructs JSBSim to transmit current simulation time which is used to sync with Ardupilot
 2019-05-10 17:12:52 +10:00
Rajat Singhal
2317e73e0b SITL: JSBSim: Use rate_hz to specify timestep 2019-05-10 17:12:52 +10:00
Rajat Singhal
732f2e7a2e SITL: Change JSBSim mode to Batch mode, specify nice sleeptime 
Previously it was run in realtime mode which doesn't support iterate command. Without setting sleeptime, defaults to 0.01s which slows down a lot
 2019-05-10 17:12:52 +10:00
Peter Barker
dd62489f5e AC_PrecLand: stop ignoring return values on methods 2019-05-09 13:03:49 +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
Pierre Kancir
92822a7f01 SITL: fix header 2019-04-23 09:20:43 +10:00
Andrew Tridgell
e18f40cc08 SITL: added IMU failure masks 2019-04-22 14:56:30 +10:00
Andrew Tridgell
ac7e969aae SITL: improve airspeed in FlightAxis for RF8 
use 3D wind to get airspeed along X axis of aircraft
 2019-04-15 10:07:54 +10:00
Andrew Tridgell
d57ea43ea6 SITL: fixed crash in example code run 2019-04-09 12:50:17 +10:00
Pierre Kancir
ebdcfdf65b SITL: use get_distance_NE instead of location_diff 2019-04-08 08:00:52 -07:00
Paul Riseborough
8ac8c7285b SITL: Add parameter for optical flow sensor noise 2019-04-02 10:51:12 +11:00
Patrick José Pereira
ab6b84e876 SITL: Fix typo in Sub 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-04-02 07:59:53 +11:00
Patrick José Pereira
8bb0772224 SITL: Add drag simulation in Sub 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-04-02 07:59:53 +11:00
Peter Barker
4c9651dbfd SITL: use enum class for AltFrame enumeration 2019-03-19 10:31:18 +11:00
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
Andrew Tridgell
b1eeaa3019 SITL: fixed segv without SITL object 2019-03-04 11:00:40 +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
Dr.-Ing. Amilcar do Carmo Lucas
0b9d10c0f9 SITL: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Simon Schopferer
6beac98d4a fixed conversion of airspeed from ft/s to knots as defined in latest JSBSim versions 2019-02-26 09:14:42 +11:00
Peter Barker
166291cfef SITL: add missing override keywords 2019-02-22 15:01:09 +00:00
Peter Barker
44e89a1cd8 SITL: include stdio for some printfs 2019-02-15 08:15:45 +11:00
Peter Barker
44bc035f7b SITL: allow testing of throttle-goes-to-low-fixed-value rc failsafes 2019-02-14 11:49:59 +11:00
Peter Barker
ae03ccf2ba SITL: enable updating of external payload on SIM_Plane 2019-02-13 09:25:27 +09:00
Tom Pittenger
a4e91e196f SITL: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Peter Barker
9e7154ccb3 SITL: enable updating of external payloads for SIM_Rover 2019-02-09 11:02:22 +09:00
Peter Barker
badfd1d559 SITL: name parameters being passed to ICEngine contructor 2019-02-08 12:23:57 -07:00
Andrew Tridgell
40babb1172 SITL: support 3 more X quad motor orders 
- betaflight X
 - DJI X
 - clockwise X
 2019-02-06 11:17:35 +11:00
Andrew Tridgell
56683ba803 SITL: added SIM_BAUDRATE_EN parameter 2019-01-27 08:56:12 +11:00
Peter Barker
6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker
b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker
834b45ce18 SITL: stop taking DataFlash pointer as argument 2019-01-18 11:16:54 +11:00
Peter Barker
e3c719b27f SITL: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Andrew Tridgell
358c570d9d SITL: added simulated battery for quadplane 
needed for motor interference for mag
 2019-01-14 08:23:47 +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
9ca059ba16 SITL: added SIM_VIB_FREQ parameter 2019-01-08 06:49:02 +11:00
Fabio D'Urso
8ff9923e07 SITL: parse home coordinates as double (not float) to avoid precision loss 2019-01-05 21:38:41 +11:00
Andrew Tridgell
a4e0ecd368 SITL: added an example for plane/quad follow 2018-12-30 16:16:54 +11:00
Andrew Tridgell
28a12224c3 SITL: fixed FDM UDP socket for JSBSim 
needs to be uppercase for new versions
also improved debug output
 2018-12-18 13:06:03 +11:00
Willem Eerland
f8407dd33a SITL: fixed JSBSim backend for latest version 2018-12-18 13:06:03 +11:00
Andrew Tridgell
cb3b0bd373 SITL: don't try to connect Morse sockets so quickly 2018-12-08 12:36:30 +11:00
Andrew Tridgell
cdd7d1c83d SITL: added Morse rover follow example script 2018-12-07 10:31:04 +09:00
Andrew Tridgell
64abd7f318 SITL: added follow example for rover 2018-12-07 08:35:15 +11:00
Andrew Tridgell
9b9ce2b1a2 SITL: removed Morse position offset 
this allows for creating swarms of vehicles with different start
locations
 2018-12-07 08:35:15 +11:00
Andrew Tridgell
824d619ab6 SITL: allow override of Morse sensors and control ports 2018-12-07 08:35:15 +11:00
Andrew Tridgell
234e3b97ef SITL: don't include vehicle name in Morse string seach 
this allows for multiple vehicles with any name to output
 2018-12-07 08:35:15 +11:00
Andrew Tridgell
997d07b694 SITL: use replace.h in SIM_Morse 
fixes build on MacOS
 2018-12-06 13:32:09 +11:00
Andrew Tridgell
debea191c9 SITL: allow sensors not to be present in Morse 2018-12-04 20:49:40 +11:00
Andrew Tridgell
e569e3e1e6 SITL: added parameters for laser scanner example 2018-12-04 18:29:41 +11:00
Andrew Tridgell
8d86b6fbee SITL: added support for laser scanner for Morse 2018-12-04 18:29:41 +11:00
Andrew Tridgell
480abeda3e SITL: improved rover_scanner example 2018-12-04 18:29:41 +11:00
Andrew Tridgell
6786e4b5fc SITL: added rover_scanner.py example for Morse 2018-12-04 18:29:41 +11:00
Andrew Tridgell
f52af1fc40 SITL: added parsing of variable length vectors for Morse 
used for laser scanner
 2018-12-04 18:29:41 +11:00
Andrew Tridgell
f0036c59d7 SITL: added rover parameters for morse example 2018-12-04 13:02:29 +11:00
Andrew Tridgell
62c26ec5ff SITL: added parameters for Morse quad 2018-12-04 09:44:50 +11:00
Andrew Tridgell
a4f388e0f3 SITL: improved Morse socket handling 2018-12-04 09:44:50 +11:00
Andrew Tridgell
505bc2b1fc SITL: added quadcopter example script for Morse 2018-12-04 09:44:50 +11:00
Andrew Tridgell
adb45c261f SITL: support quad simulation in Morse 2018-12-04 09:44:50 +11:00
Andrew Tridgell
c8c54b369a SITL: added example script for Morse 2018-12-04 09:44:50 +11:00
Andrew Tridgell
fea5060429 SITL: added Morse simulation backend 2018-12-04 09:44:50 +11:00
Andrew Tridgell
9257d29717 SITL: fixed frame_property build error with older C++ compilers 2018-11-30 11:03:09 +11:00
Andrew Tridgell
e3cd081064 SITL: support up to 12 actuators with RealFlight8 
the new beta release supports up to 12 channels
 2018-11-27 13:49:41 +11:00
Peter Barker
3296b1c7f7 SITL: correct use of uninitialized values in simulated gimbal 2018-11-25 03:13:21 +00:00
Andrew Tridgell
635540b4d6 SITL: simulate Solo gimbal parameter handling 
this allows us to get into running state
 2018-11-24 11:00:37 +11:00
Andrew Tridgell
2a08dc73b7 SITL: added some debug code to simulated Solo gimbal 2018-11-24 11:00:37 +11:00
Andrew Tridgell
0536a3c4c6 SITL: added SIM_WOW_PIN 2018-11-09 14:35:14 +11:00
Peter Barker
82df40f464 SITL: add override keyword where required 2018-11-08 11:30:12 +11:00
Andrew Tridgell
366361f0bb SITL: fixed running of example programs 2018-11-07 07:35:45 +11:00
Peter Barker
537a7e0727 SITL: correct comment on sending gimbal messages 2018-10-23 11:58:04 +11:00
Andrew Tridgell
feea73ee1a SITL: use WITH_SEMAPHORE() 
and removed usage of hal.util->new_semaphore()
 2018-10-17 12:54:22 +11:00
IamPete1
e31f98157b SITL: sailboat add matlab VPP tool 2018-10-09 16:27:10 +09:00
IamPete1
1792438660 SITL: sailboat sim small changes 2018-10-09 16:27:10 +09:00
Randy Mackay
b7c88da67c SITL: sailboat fixes from peer review 2018-09-26 12:00:13 +09:00
Randy Mackay
804305aa2b SITL: add simple sailboat simulator 2018-09-26 12:00:13 +09:00
Pierre Kancir
5b0ae42725 SITL: limit on_ground() check to militer accuracy to prevent bouncing 2018-09-07 10:22:34 +10:00
Peter Barker
3e9294a2ae SITL: eliminate float-equals issues 2018-08-28 09:54:47 +10:00
Pierre Kancir
a5e2f96a59 SITL: Better gripper sim options 2018-08-27 14:39:49 +10:00
Pierre Kancir
37f7cc4bcf SITL: rearrange Grippers and Sprayers in SITL 2018-07-31 23:34:43 +10:00
Andrew Tridgell
128ea42286 SITL: added SIM_RC_CHANCOUNT parameter 2018-07-24 19:44:03 +10:00
Ebin
89ffa94427 SITL: Removed redundant variables and modified/deleted commented lines 2018-07-20 14:41:32 +10:00
Ebin
21445e91be SITL: new balancebot physics simulation 2018-07-20 14:41:32 +10:00
Andrew Tridgell
98f87f5087 SITL: fixed gimbal for tailsitter 2018-07-20 14:21:06 +10:00
Andrew Tridgell
d1f67f6ded SITL: added diagonal, off-diagonal and orientation of SITL compass 2018-07-18 16:07:19 +10:00
Patrick José Pereira
2ba6f64281 SITL: Remove unused variables 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-07-17 20:25:22 +09:00
Andrew Tridgell
dc54babe41 SITL: setup more defaults with flightaxis 
with copters now you only need to set FRAME_CLASS to fly
 2018-07-13 10:19:01 +10:00
Peter Barker
6d6366df48 SITL: Sim_Vicon: set CLOEXEC on vicon file decsriptor 2018-06-29 21:53:14 +10:00
Ebin
10914d88b7 SITL: all unchanged variables declared const in BalanceBot::update() 2018-06-28 21:55:20 +09:00
Ebin
3a171c56b5 SITL: Added BalanceBot 2018-06-28 21:55:20 +09:00
Patrick José Pereira
b66b4775bc SITL: Replace find_object with SITL singleton 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-06-27 14:59:33 -07:00
Patrick José Pereira
ae378f0fb3 SITL: Use reinterpret_cast with AP_Param::find_object 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-06-26 00:02:01 +01:00
Patrick José Pereira
f68b07df1f SITL: Use SITL singleton 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2018-06-26 00:02:01 +01:00
Andrew Tridgell
e455958c87 SITL: fixed build with new vicon_position_estimate message extension 2018-06-19 09:36:03 +10:00
Peter Barker
19fd133ef8 SITL: correct compilation for transitive include fail 2018-05-29 14:42:02 +10:00
Pierre Kancir
0fd8d94924 SITL: Fix printf format warning 2018-05-26 09:13:29 +09:00
Peter Barker
a137afd11b SITL: add singleton 2018-05-23 18:36:50 +10:00
Andrew Tridgell
0078a68fbb SITL: fixed segv when running examples under SITL 2018-05-15 13:36:41 +10:00
Andrew Tridgell
4ba5a368ff SITL: adjust vicon simulated lag approach 2018-05-15 10:42:52 +09:00
Peter Barker
c92554001f SITL: send buffer rather than mavlink msg on channel 2018-05-14 11:46:43 +10:00
Eugene Shamaev
d086edc762 SITL: add wind type parameters 2018-05-02 07:32:25 -07:00
Peter Barker
767f81265b Sub: correct compilation under clang++ on MacOSX 2018-04-30 13:04:03 +09:00
Peter Barker
e7b5978d8d SITL: use a 16-bit mask for GPIO out 2018-04-18 20:31:55 +09:00
Peter Barker
871661c65f SITL: SIM_Vicon: use existing channel for packing messages 
Also correct sending of Vicon message; too many bytes were sent
 2018-04-02 09:23:27 +09:00
Peter Barker
994e3e7092 SITL: SIM_Vicon: fix compiler warning 2018-03-29 16:45:34 +09:00
Peter Barker
08189e0754 SITL: add parameter for Vicon observation delay 2018-03-27 20:28:53 +09:00
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
Eugene Shamaev
6954a0035a SITL: SITL of several airspeed sensors 2018-03-09 11:27:20 -08:00
Andrew Tridgell
d75e47a4d8 SITL: cope with cygwin64 2018-03-02 17:11:31 +11:00
Peter Barker
1915244960 SITL: correct compiler warning 
In file included from ../../libraries/SITL/SIM_last_letter.cpp:19:
../../libraries/SITL/SIM_last_letter.h:74:17: warning: private field
'frame_str' is not used [-Wunused-private-field]
    const char *frame_str;

SITL: correct compiler warning

In file included from ../../libraries/SITL/SIM_Sprayer.cpp:19:
../../libraries/SITL/SIM_Sprayer.h:55:14: warning: private field
'start_time_us' is not used [-Wunused-private-field]
    uint64_t start_time_us;

SITL: correct compiler warnings

In file included from ../../libraries/SITL/SIM_Gripper_Servo.cpp:19:
../../libraries/SITL/SIM_Gripper_Servo.h:56:10: warning: private field
'zero_report_done' is not used [-Wunused-private-field]
    bool zero_report_done = false;

SITL: correct compiler warnings

In file included from ../../libraries/SITL/SIM_ADSB.cpp:19:
../../libraries/SITL/SIM_ADSB.h:49:28: warning: private field 'fdm' is
not used [-Wunused-private-field]
    const struct sitl_fdm &fdm;
 2018-03-02 09:26:37 +09:00
Peter Barker
6a862c6e24 SITL: make home location parsing verbose 
Given we don't fail to start SITL if the home location fails to parse,
we should at least make the user very aware that their home location
string is bad.

This commit makes failures verbose, and outputs the parsed location
values rather than regurgitating the location string the user supplied;
it was very misleading in that the location could simply fail to parse
and thus be unused.
 2018-02-21 23:51:56 +10:00
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
Guglie
4eaa1f17df SITL: fix pthread_setname_np to build on mac 2017-12-04 21:14:29 +11:00
Andrew Tridgell
917d9842c4 SITL: support AHRS_ORIENTATION in SITL 
this allows for tailsitters in RealFlight
 2017-11-23 14:26:11 +11:00
Patrick José Pereira
28ff272017 SIM_Submarine: Solve problem when frame is above water level 
Fix bluerobotics/ardusub/issues/128

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
Co-Authored-By: jaxxzer <jwalser90@gmail.com>
 2017-11-22 12:38:14 -08:00
Andrew Tridgell
964d64a623 SITL: adjust FlightAxis defaults 
and map 0,0 to CMAC location, to improve how SITL works in
MissionPlanner
 2017-11-19 18:24:08 +11:00
Andrew Tridgell
cdd350f93e SITL: fixed build under cygwin 2017-11-18 21:23:15 +11:00
Peter Barker
62f7acff52 SITL: reduce max accel of simulated rover 2017-10-26 14:45:19 +11:00
hiro2233
7d304073ed SITL: fixed include case sensitive 
On case sensitive cygwin feature enabled, this build ok.
 2017-10-25 20:59:55 +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
Mark Whitehorn
dedb40ce0b SITL: add parameter to simulate reversed pitot tube order 2017-09-22 18:21:09 +10:00
mirkix
93b3970141 SITL: Add tilthvec frame 2017-09-18 21:20:39 +10:00
Andrew Tridgell
7ade37bd4e SITL: added SIM_GPS_ALT_OFS 
this is used to give a bad GPS height in SITL, which is very useful for
testing origin vs home issues
 2017-09-18 10:24:45 +10:00
Peter Barker
85ebe923b6 SITL: avoid FPE when running fly.ArduPlane 
Program received signal SIGFPE, Arithmetic exception.
__expf_finite () at ../sysdeps/x86_64/fpu/e_expf.S:132
132     ../sysdeps/x86_64/fpu/e_expf.S: No such file or directory.
(gdb) u
 2017-09-06 20:22:52 +10:00
Andrew Tridgell
4aa068d63d SITL: added simple launch sim for plane 
allow for bungee, catapult and hand launches
 2017-08-29 07:35:04 +10:00
Michael du Breuil
4dbe282121 SITL: Add airspeed failure parameters 2017-08-10 20:15:35 +10:00
Andrew Tridgell
a7967e00e4 SITL: added SIM_GPS_LOCKTIME parameter 2017-07-14 15:02:12 +10:00
Andrew Tridgell
907534d55f SITL: added dspoiler support 2017-07-03 11:17:42 +10:00
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
murata
c21b586ccc SITL: add dodeca-hexa support 2017-05-27 14:21:13 +09:00
Andrew Tridgell
47b79eb72d SITL: expose home location 2017-05-08 13:38:10 +10:00
Andrew Tridgell
d50dcb5ad2 SITL: added SIM_TEMP_BFACTOR 
for barometer temperature error
 2017-05-03 20:12:04 +10:00
Andrew Tridgell
c1b6684b9f SITL: added temperature control parameters 2017-05-03 20:12:04 +10:00
Andrew Tridgell
67404e9660 SITL: added SIM_ODOM_ENABLE 
for enabling visual odomotry simulated data
 2017-05-01 15:06:46 +10:00
Pierre Kancir
f8d6b5fc9c AP_HAL_SITL: Allow to use a second type of gps for all type 2017-04-26 18:34:56 +01:00
Andrew Tridgell
1e69508322 SITL: added a vectored tilt tricopter quadplane 2017-04-24 16:54:41 +10:00
Niels Joubert
abd408bf40 SITL: Support both SBPv0 and SBPv2 2017-04-18 18:25:54 +01:00
Andrew Tridgell
92f060bdef SITL: improved single-motor tailsitter plane 
give larger control surfaces and take account of thrust airflow over
control surfaces
 2017-04-17 14:23:15 +10:00
Andrew Tridgell
4de0daa7a1 SITL: make quaternion state available outside SITL 2017-04-16 14:01:36 +10:00
Andrew Tridgell
68e0b5b7fa SITL: support XPlane-11 
the packets are prefixed with DATA* instead of DATA@

This makes it work with both versions
 2017-04-09 16:39:26 +10:00
Guilherme Sousa
204fcba8c1 SITL: Added SIM_ENGINE_FAIL to define failed motor 2017-03-29 22:39:51 +11:00
Pierre Kancir
1a374aa9f6 SIM_Gazebo: add a timeout to reset timestamp check 2017-03-18 19:58:11 +11:00
Pierre Kancir
29d35699f2 SITL: Gazebo, throw old paquet based on timestamp as we are using UDP 
Add some comments
 2017-03-18 19:58:11 +11:00
Pierre Kancir
d612209c19 SITL: Gazebo fix implicit cast 2017-03-18 19:58:11 +11:00
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
5b8c89225a SITL: Make socket more verbose 2017-03-18 19:58:11 +11:00
Pierre Kancir
567a8d68e5 SITL: Make socket error more verbose 2017-03-18 19:58:11 +11:00
Pierre Kancir
8f2bdf51ea SITL: gazebo add socket drain 2017-03-18 19:58:11 +11:00
Pierre Kancir
1bb4e3c9b7 AP_IRLock_SITL: make port variable 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
CSe
491b545fab SITL: fix gimbal connection on Windows 2017-03-17 00:43:21 +00:00
Randy Mackay
07ce7b8bd6 SITL: add GPS2_GLITCH parameter 2017-03-13 11:31:51 +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
Rustom Jehangir
36f3cae535 SITL: Add support for Sub 2017-02-21 11:26:14 +11:00
Andrew Tridgell
d338d9c0aa SITL: fixed whitespace on flightaxis code 2017-02-18 17:26:43 +11:00
Andrew Tridgell
3c8020862c SITL: support a builtin tailsitter vehicle type 2017-02-18 17:26:43 +11:00
Andrew Tridgell
8bd1fc63d5 SITL: support pitch90 and pitch270 in FlightAxis 
used for flying tailsitters
 2017-02-18 17:26:43 +11:00
Michael du Breuil
ef0c51da42 SITL: Add GPS noise parameter 2017-02-13 09:23:14 +11:00
Andrew Tridgell
0171b64feb SITL: setup simulator to match firefly6 AvA servo outputs 2017-02-06 16:18:58 +11:00
Andrew Tridgell
642e5aa5b7 SITL: match simulated tilt rate for CL84 to real vehicle 2017-01-25 19:01:15 +11:00
Peter Barker
8b38ce666d SITL: SIM_XPlane: fix fabsf/abs warning; location alts are in integer cm 2017-01-17 09:41:37 -08:00
Andrew Tridgell
39ab1a0abc SITL: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Pierre Kancir
c0be20ece2 SITL: XPLANE fix member shadowing 2017-01-09 06:51:48 -08:00
Andrew Tridgell
eaf5676636 SITL: fixed unselection bitmask bug in XPlane 2017-01-09 09:55:14 +11:00
Andrew Tridgell
35d6dc141a SITL: only de-select data types in xplane once 
don't fight the user
 2017-01-07 14:41:23 +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
Randy Mackay
3ed9eb98f3 SITL: minor comment fix for SIM_Multicopter 2016-12-19 17:01:04 +09:00
Andrew Tridgell
65c3d0e060 SITL: added ACC2_BIAS 2016-12-19 08:07:14 +11:00
Pierre Kancir
a5161edc97 SITL: remove duplicate 2016-12-05 10:59:45 -08:00
Peter Barker
20b86605fa SITL: gripper closes faster, vary load carried by gripper 
If gripper is closed on ground it is considered to be carrying
something
 2016-12-02 12:04:05 +11:00
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
Andrew Tridgell
42435e700b SITL: expose height above ground to all models 2016-11-28 08:26:56 +11:00
Tom Pittenger
11229d2588 SITL: fix whitespace 2016-11-18 10:42:10 -08:00
ori ganoni
631b5c3ebc adding turbulance to SITL 2016-11-17 20:06:35 -08:00
Lucas De Marchi
f6d475c1e6 AP_HAL_SITL: add O_CLOEXEC in places missing it 
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
 2016-11-07 12:37:30 -03:00
Peter Barker
d9cbcd9487 SITL: a simulator for the EPM grabber 2016-11-05 10:20:43 +09:00
Peter Barker
d439bbe5bf SITL: SIM_Gripper_Servo, a simulated servo gripper 2016-11-05 10:20:29 +09:00
murata
c808ee2f49 Global: To nullptr from NULL. 
RC_Channel: To nullptr from NULL.

AC_Fence: To nullptr from NULL.

AC_Avoidance: To nullptr from NULL.

AC_PrecLand: To nullptr from NULL.

DataFlash: To nullptr from NULL.

SITL: To nullptr from NULL.

GCS_MAVLink: To nullptr from NULL.

DataFlash: To nullptr from NULL.

AP_Compass: To nullptr from NULL.

Global: To nullptr from NULL.

Global: To nullptr from NULL.
 2016-11-02 16:04:47 -02:00
Peter Barker
1997a4e044 SITL: include mass of sprayer payload in vehicle mass 2016-10-29 15:02:56 +09:00
Peter Barker
a7867603a0 SITL: SIM_Sprayer: a simulated sprayer 2016-10-29 15:02:48 +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
priseborough
27dab27565 SITL: Add parameters for sensor position offsets in body frame 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
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
Andrew Tridgell
85ab1c3444 SITL: added ignition control for gas heli 2015-08-18 13:07:19 +10:00
Andrew Tridgell
c2e68eaf79 SITL: tidy up frame handling a bit 2015-08-13 18:44:35 +10:00
Fredrik Hedberg
e2027a8414 SITL: Add HELI_DUAL_FRAME and HELI_COMPOUND_FRAME. 2015-08-13 18:23:30 +10:00
Gustavo Jose de Sousa
a02e7730ea SITL: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:38:25 +10:00
Grant Morphett
538a077ae8 SITL: fix coverity warning - removed unused variable heli_servos 2015-07-30 12:37:09 +10:00
Tom Pittenger
0c9cec7958 SITL: param SITL_ARSP_FAIL should be a float instead of byte 
this param was meant to represent an airspeed which is a float
 2015-07-28 11:03:13 +10:00
Tom Pittenger
250dcd31a2 SITL: Add ARSP_FAIL param 
This will allow testing pitot tube hardware failures
 2015-07-23 14:38:06 +10:00
Tom Pittenger
9737c426eb SITL: Gazebo index out of bound 
- imu_orientation_quat[size=3] is fed to Quaternion[size=4] which causes an index-out-of-range problem
 2015-07-22 21:33:46 +10:00
Lucas De Marchi
5c9bf90d94 SITL: use ARRAY_SIZE macro 2015-07-21 14:25:19 +09:00
John Hsu
14e462706d SITL: added gazebo SITL shim 2015-07-20 09:10:48 +10:00
Randy Mackay
2b4aaf2368 SITL: add vibe monitor and SIM_ACC2_RND to sitl 2015-07-12 16:50:30 +09:00
Andrew Tridgell
1f58e0080a SITL: fixed some build warnings 2015-07-06 09:21:49 +10:00
Andrew Tridgell
f8944ab6be SITL: define number of RC out channels 2015-06-30 08:54:46 +10:00
Andrew Tridgell
ff88932091 SITL: setup turbulence in JSBSim 2015-06-29 11:25:59 +10:00
Andrew Tridgell
322a61635f SITL: allow extra arguments to be passed to last_letter 2015-06-19 16:39:46 +10:00
Georacer
b375a8debf SITL: Allows last_letter to start at the location specified by the SITL arguments 2015-06-19 12:49:29 +10:00
Andrew Tridgell
83cc60a699 SITL: added simple balloon simulator 
for testing balloon release code in plane
 2015-06-15 09:20:55 +10:00
Andrew Tridgell
96737a3982 SITL: fixed yaw wrap in simulated AntennaTracker 2015-06-01 14:08:45 +10:00
Andrew Tridgell
edb54cabb5 SITL: added simulated antenna tracker 2015-06-01 12:53:30 +10:00
Andrew Tridgell
14bdfe2889 SITL: started to use C++11 variable initialisation 2015-06-01 08:04:51 +10:00
Andrew Tridgell
b541bfb739 SITL: fixed build warnings 2015-05-30 22:51:38 +10:00
Andrew Tridgell
d8df31c023 SITL: initialise a couple of variables to prevent a valgrind error 2015-05-27 11:54:18 +10:00
Peter Barker
88015503ac SITL: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:16 +10:00
Andrew Tridgell
527fc2a610 SITL: use 127.0.0.1 to improve reliability on windows 2015-05-25 22:02:18 +10:00
Andrew Tridgell
563be63d00 SITL: try to get speedup accurate on both windows and linux 2015-05-25 21:48:42 +10:00
Andrew Tridgell
2b2259a6d7 SITL: use more granrular sleeps for windows 2015-05-25 17:05:44 +10:00
Andrew Tridgell
c06d81a06a SITL: use autotest_dir 
this allows for the aircraft directory for SITL to be packaged without
the source tree
 2015-05-25 13:04:46 +10:00
Andrew Tridgell
4f37926aea SITL: fixed gimbal build on PX4 2015-05-25 12:39:40 +10:00
Andrew Tridgell
7f5b206c55 SITL: added gimbal simulator class 2015-05-25 12:20:26 +10:00
Andrew Tridgell
2bb5f677c7 SITL: removed earth frame rates 2015-05-25 09:03:10 +10:00
Andrew Tridgell
2d53a1ff9a SITL: fixed airspeed in last_letter 2015-05-23 11:37:21 +10:00
Andrew Tridgell
ae6ac1b82d SITL: fixed airspeed in CRRCSim 2015-05-23 11:35:56 +10:00
Andrew Tridgell
da5d5c9936 SITL: fixed airspeed pass-thru from simulators 2015-05-23 11:24:10 +10:00
Andrew Tridgell
091a1e7fe0 SITL: fixed wind support in JSBSim 2015-05-23 11:03:57 +10:00
Andrew Tridgell
60221f5e9c SITL: use sendto() in CRRCSim 
this makes us robust to restart of client or server
 2015-05-22 16:07:45 +10:00
Andrew Tridgell
b35c21fbe2 SITL: fixed socket recv error check 2015-05-22 16:07:43 +10:00
Andrew Tridgell
e487d95c1b SITL: added direct support for last_letter simulator 2015-05-22 16:07:43 +10:00
Peter Barker
6299a8c90d autotest: drain control socket in SITL 
fixes SITL on plane
 2015-05-22 08:09:15 +10:00
Andrew Tridgell
f40c96de9d SITL: add 'quad' and 'copter' as aliases for quadcopter 2015-05-11 09:19:53 +10:00
Andrew Tridgell
bab94c8a04 SITL: close high fds before launching JSBSIM 2015-05-11 08:06:10 +10:00
Andrew Tridgell
7692889248 SIM_JSBSim: added elevon and vtail support 2015-05-10 21:57:39 +10:00
Andrew Tridgell
aa9853179c SITL: fixed startup yaw 2015-05-10 21:57:19 +10:00
Andrew Tridgell
c136d65c25 SITL: added initial JSBSim simulator backend 2015-05-10 21:01:49 +10:00
Andrew Tridgell
1127b716c4 SITL: lower the default noise 
prevents problems calibrating the gyro
 2015-05-09 07:22:37 +10:00
Andrew Tridgell
cbdc9f0706 SITL: fixed autotest SITL 2015-05-06 10:09:43 +10:00
Andrew Tridgell
93d5101bf9 SITL: added CRRCSim simulation connection 2015-05-05 21:42:45 +10:00
Andrew Tridgell
42c6801d61 SITL: reformat SITL code with astyle 2015-05-05 11:49:54 +10:00
Andrew Tridgell
a58a663085 SITL: fixed build on APM2 2015-05-05 09:45:58 +10:00
Andrew Tridgell
64fa219c05 SITL: converted rover simulator from python to C++ 2015-05-05 09:45:53 +10:00
Andrew Tridgell
6ec6158b8b SITL: converted helicopter simulator from python 2015-05-05 09:45:53 +10:00
Andrew Tridgell
a17fc9e5ab SITL: fixed time handling type 2015-05-05 09:45:53 +10:00
Andrew Tridgell
77f007ab27 SITL: support speedup setting on the command line 2015-05-05 09:45:52 +10:00
Andrew Tridgell
19147a05f6 SITL: support functions for new simulators 2015-05-05 09:45:52 +10:00
Andrew Tridgell
437e1bdba0 SITL: added fill_fdm() for FDM output from simulator 2015-05-05 09:45:52 +10:00
Andrew Tridgell
914b91af9e SITL: initial conversion of multicopter sim to C++ 2015-05-05 07:12:36 +10:00
Tom Pittenger
91476d78ae SITL: fix compile warnings re float constants 2015-04-24 14:04:19 +09:00
Fergus Noble
0480867de2 SITL: Update SBP simulation functions for pseudo-absolute mode 2015-04-24 08:01:32 +10:00
Andrew Tridgell
1ce9cb693a SITL: added SIM_MAG_OFS for setting compass offsets in SITL 2015-04-21 08:29:27 +10:00
Sean O\'Brien
6474aa2477 AP_HAL_AVR_SITL: added sensor delays to sitl. 2015-04-14 10:10:38 +10:00
Andrew Tridgell
b17878c8c4 SITL: lower default GPS delay to 0.2 seconds 
this matches typical uBlox
 2015-04-14 09:57:47 +10:00
Andrew Tridgell
63c792bc1c SITL: added SIM_GPSDRIFTALT simulation control 2015-02-21 08:32:49 +11:00
Andrew Tridgell
5512a6f8a0 SITL: lower the default noise in SITL 
the noise levels were well above realistic levels, especially for gyro
noise, and were causing EKF issues
 2015-01-22 11:33:09 +11:00
Andrew Tridgell
228b04e21e SITL: added SIM_FLOW_DELAY parameter 2015-01-06 14:19:02 +11:00
Andrew Tridgell
5758f39127 SITL: added SIM_FLOW_RATE parameter 2015-01-06 14:19:02 +11:00
Andrew Tridgell
9b65376961 SITL: added SIM_TERRAIN parameter 
to choose either flat earth or AP_Terrain for sonar and optical flow
AGL emulation
 2015-01-03 21:47:28 +11:00
Andrew Tridgell
66a03d100e SITL: make some units clearer in comment 2015-01-03 15:44:19 +11:00
Andrew Tridgell
254aa32d4e SITL: added SIM_FLOW_ENABLE option 2015-01-03 14:16:34 +11:00
Andrew Tridgell
ef98eba722 SITL: added SIM_SONAR_SCALE parameter 
used for simulating different kinds of rangefinders
 2014-08-10 22:36:38 +10:00
Randy Mackay
79291f25a0 SITL: add ACC_BIAS and BARO_GLITCH parameters 
These allow testing accelerometer bias which often comes from vibration
and sudden changes in baro altitude.
 2014-07-28 22:16:21 +09:00
Jonathan Challinger
e883b889b6 SITL: Add compassmot interference 2014-05-15 21:14:20 +10:00
Andrew Tridgell
e0db7b117f SITL: added SIM_FLOAT_EXCEPT parameter 
this enables checking for floating point exceptions
 2014-04-21 15:37:08 +10:00
Andrew Tridgell
7404fc9d40 SITL: added SIM_BARO_DISABLE parameter 
useful for testing baro failure
 2014-04-11 16:47:40 +10:00
Niels Joubert
00064ac883 SITL: Adding GPS types for Swift Binary Protocol 2014-04-05 13:42:23 +11:00
Niels Joubert
161b5f99b3 SITL: Adding Swift Binary Protocol GPS type 2014-04-05 13:42:23 +11:00
Andrew Tridgell
7a52938f68 SITL: added SIM_GPS2_ENABLE option 2014-03-03 07:07:09 +11:00
Andrew Tridgell
9e3bf685c2 SITL: use sinf() and cosf() 
for some strange reason the double precision functions can crash
 2014-02-15 05:48:17 +11:00
Andrew Tridgell
38ac8d404a SITL: fixed PX4 build 2014-02-15 05:48:17 +11:00
Andrew Tridgell
fba0891617 SITL: fixed SIM df altitude 2014-02-15 05:48:17 +11:00
Andrew Tridgell
fcd9041e62 SITL: added dataflash logging 2014-02-15 05:48:14 +11:00
Andrew Tridgell
5eac5fb26f SITL: added SIM_RC_FAIL 
simulate RC failure with no signal
 2013-12-20 09:43:04 +11:00
Andrew Tridgell
b075f8735f SITL: moved airspeed pin to pin 1 
keep it separate from the sonar, allowing both to be used at the same time
 2013-11-28 21:44:05 +11:00
Ben Nizette
339da1c21b SITL: Add noise and glitching behaviour for the sonar sensor 2013-11-28 21:38:05 +11:00
Ben Nizette
70d37d2cf6 SITL: Wire in basic support for SITL downward-looking sonar sensors 2013-11-28 21:38:05 +11:00
Ben Nizette
59a54aae20 SITL: Add barometer drift parameter to the SITL library 2013-11-28 21:35:13 +11:00
Andrew Tridgell
428479b9d5 SITL: added SIM_ACCEL_FAIL option 
used to test accelerometer failure in flight
 2013-11-07 12:49:08 +11:00
Andrew Tridgell
ede927f68a HAL_SITL: added airspeed noise control 2013-10-14 15:40:45 +11:00
Randy Mackay
8d1d8c78b5 SITL: add SIM_BATT_VOLTAGE 2013-10-03 11:16:35 +09:00
Andrew Tridgell
42bc8b12df SITL: added a SIM_GPS_HZ option 
this allows simulation of slow GPS updates (for example, the 1Hz GPS
problem)
 2013-10-01 16:39:16 +10:00
Randy Mackay
c6a99ac24a AutoTest: add support for GPS glitching 2013-09-24 21:41:04 +09:00
Andrew Tridgell
4864496ae6 SITL: reduce default GPS delay to 0.4 
closer to real uBlox delay
 2013-09-16 11:41:51 +10:00
Andrew Tridgell
e85d275fe5 SITL: added SIM_SERVO_RATE parameter 
this allows a slew rate for servos to be specified in degrees/second
 2013-09-16 09:16:52 +10:00
Andrew Tridgell
97b7130bb9 libraries: update license header to GPLv3 
we switched to GPLv3 a long time ago, but neglected to update the
per-file license headers
 2013-08-30 13:01:39 +10:00
Andrew Tridgell
97baec8bc7 SITL: update for new SIMSTATE message 2013-08-14 14:36:44 +10:00
Andrew Tridgell
e75c48c029 SITL: added simulated NMEA GPS 
useful for validating the NMEA GPS driver
 2013-08-14 14:36:44 +10:00
Andrew Tridgell
15a84972d1 SITL: added SIM_MAG_ERROR parameter 
this is a compass yaw error in degrees, used for testing navigation
with a bad compass
 2013-05-27 13:37:34 +10:00
Andrew Tridgell
220e7b019c SITL: use PACKED attribute in fdm structure 2013-05-09 20:10:31 +10:00
Andrew Tridgell
055da3c4b6 SITL: added SIM_GPS_NUMSATS parameter 
this allows testing of the DCM code with less than 6 satellites
 2013-05-07 10:38:36 +10:00
Andrew Tridgell
9d3b32bd27 SITL: change default wind speed to zero 
makes starting SITL easier for new users
 2013-04-17 11:39:43 +10:00
Andrew Tridgell
0ffc7dab6b SITL: added GPS speed down to SITL state 2013-03-28 10:29:12 +11:00