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39 Commits

Author SHA1 Message Date
Peter Barker 6939a9fa91 SITL: add capability to twist the aircraft 
This makes the EKF very, very unhappy, but is useful for compass
calibration testing
 2019-04-23 10:06:17 +10:00
Peter Barker 4db011f530 SITL: add SIM_SHOVE_* options to shove the simulated vehicle 
The parameter values are time in milliseconds and body-frame
acceleration in m/s/s

So to test throw mode:
 mode throw
 param set SIM_SHOVE_Z -30
 arm throttle
 param set SIM_SHOVE_TIME 500
 2019-03-12 11:09:37 +11:00
Andrew Tridgell 358c570d9d SITL: added simulated battery for quadplane 
needed for motor interference for mag
 2019-01-14 08:23:47 +11:00
Pierre Kancir 37f7cc4bcf SITL: rearrange Grippers and Sprayers in SITL 2018-07-31 23:34:43 +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
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 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
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell 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
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
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
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 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
Andrew Tridgell 7dcd17a2fa SITL: make multicopter motors only effective above 10% 2016-04-02 22:45:05 +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 8a98ce427c SITL: moved to common code for attitude/pos update 2016-01-01 15:12:33 +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
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 49a42dc985 SITL: use a SITL namespace 2015-10-22 11:04:42 -02:00
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
Lucas De Marchi 5c9bf90d94 SITL: use ARRAY_SIZE macro 2015-07-21 14:25:19 +09:00
Andrew Tridgell da5d5c9936 SITL: fixed airspeed pass-thru from simulators 2015-05-23 11:24:10 +10:00
Andrew Tridgell f40c96de9d SITL: add 'quad' and 'copter' as aliases for quadcopter 2015-05-11 09:19:53 +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 6ec6158b8b SITL: converted helicopter simulator from python 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 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