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Commit Graph

139 Commits

Author SHA1 Message Date
Peter Barker
d3b9ac5c8c SITL: add simulated parachute 
Doesn't actually change aerodynamics at the moment
 2019-01-09 13:16:03 +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
8d86b6fbee SITL: added support for laser scanner for Morse 2018-12-04 18:29:41 +11:00
Andrew Tridgell
366361f0bb SITL: fixed running of example programs 2018-11-07 07:35:45 +11:00
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
37f7cc4bcf SITL: rearrange Grippers and Sprayers in SITL 2018-07-31 23:34:43 +10:00
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
Andrew Tridgell
0078a68fbb SITL: fixed segv when running examples under SITL 2018-05-15 13:36:41 +10:00
Andrew Tridgell
d75e47a4d8 SITL: cope with cygwin64 2018-03-02 17:11:31 +11:00
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
Andrew Tridgell
917d9842c4 SITL: support AHRS_ORIENTATION in SITL 
this allows for tailsitters in RealFlight
 2017-11-23 14:26:11 +11:00
Andrew Tridgell
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
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
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
599e3d7b83 SITL: make range finder a standalone sitl plugin 2017-06-07 20:28:25 +10:00
Andrew Tridgell
47b79eb72d SITL: expose home location 2017-05-08 13:38:10 +10:00
Andrew Tridgell
4de0daa7a1 SITL: make quaternion state available outside SITL 2017-04-16 14:01:36 +10:00
Pierre Kancir
ee7355a301 SITL: Reduce some variables scope and include 2017-03-18 19:58:11 +11:00
Pierre Kancir
8054405521 SITL: Change interface port to a generic solution for external simulator 2017-03-18 19:58:11 +11:00
Pierre Kancir
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
63ea8c6f21 SITL: enable multi sitl for gazebo 2017-03-18 19:58:11 +11:00
Andrew Tridgell
3c8020862c SITL: support a builtin tailsitter vehicle type 2017-02-18 17:26:43 +11:00
Pierre Kancir
bf135aeff7 SITL: Aircraft correct some syntax, implicit cast, make some local variable const, remove tabs and whitespace 2016-12-19 14:53:17 +00:00
Peter Barker
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
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
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
priseborough
d830f68901 SITL: Add angular acceleration to simulator states 
The calculation used is an approximation to work around the lack of angular acceleration in the interface with the flight dynamics model.
 2016-10-27 14:54:44 +11:00
Andrew Tridgell
5e03358b0b SITL: added servo filtering 
SIM_SERVO_SPEED is servo time constant in seconds
 2016-10-25 20:39:38 +11:00
Mathieu OTHACEHE
152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell
c275e7c61d SITL: added SIM_SPEEDUP parameter 
allows changing speed of simulation while running
 2016-09-19 07:45:24 +10:00
Andrew Tridgell
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
a1c759e491 SITL: added sensor smoothing 
this adds smoothing of sensors for kinematic consistency when
interacting with the ground. It means when we land the EKF doesn't go
crazy
 2016-07-19 21:38:16 +10:00
Andrew Tridgell
e7a54c83d1 SITL: allow SITL to use terrain data for ground height 2016-07-19 14:42:31 +10:00
Andrew Tridgell
b7395ee74b SITL: fixed sign of magnetic inclination 2016-06-20 11:17:36 +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
0ed868d97b SITL: compiler warning, comparing float to 0 2016-06-14 21:05:38 -07:00
Andrew Tridgell
7c227ac96c SITL: debug code for logging raw SITL data 2016-06-04 14:21:21 +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
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
785ad0614a SITL: fixed coverity 125055 2016-04-26 16:46:06 +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
73a2c99d56 SITL: limit rotational rate to 2000dps 2016-03-26 14:23:05 +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
7a7bd0607f SITL: first version of FlightAxis SITL support 2016-01-09 07:38:51 +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
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
8a98ce427c SITL: moved to common code for attitude/pos update 2016-01-01 15:12:33 +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
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
223ce2b6aa SITL: allow FDM models to provide voltage, current and RPM 2015-11-23 13:46:27 +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
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
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
a3d7156f28 SITL: raise default simulation rate to 1200Hz 
this greatly improves things for the heli sim
 2015-09-01 16:34:20 +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
Andrew Tridgell
1f58e0080a SITL: fixed some build warnings 2015-07-06 09:21:49 +10:00
Andrew Tridgell
d8df31c023 SITL: initialise a couple of variables to prevent a valgrind error 2015-05-27 11:54:18 +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
2bb5f677c7 SITL: removed earth frame rates 2015-05-25 09:03:10 +10:00
Andrew Tridgell
da5d5c9936 SITL: fixed airspeed pass-thru from simulators 2015-05-23 11:24:10 +10:00
Andrew Tridgell
aa9853179c SITL: fixed startup yaw 2015-05-10 21:57:19 +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
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