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271 Commits

Author SHA1 Message Date
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