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1159 Commits

Author SHA1 Message Date
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
Andrew Tridgell fb4e68f0f0 SITL: added SIM_GPS_BYTELOSS option 
this allows testing of protocol recovery after losing bytes on the GPS
serial link
 2013-02-16 22:00:16 +11:00
Andrew Tridgell 428966160a SITL: added support for MTK16 and MTK19 simulated GPS types 2013-02-16 20:59:48 +11:00
Andrew Tridgell 2ec2c58f67 SITL: added SIM_GPS_TYPE control 
for choosing what sort of GPS to simulate
 2013-02-16 20:15:57 +11:00
Andrew Tridgell fc8bd8cf95 SITL: updates for new AP_Param API 2012-12-20 14:51:39 +11:00
Pat Hickey 6943d32d76 SITL: fixed to build under AP_HAL 
* won't work or naything like that
 2012-12-20 14:51:35 +11:00
Andrew Tridgell 697b2074a5 SITL: added SIM_WIND_* parameters 
this allows control of the simulated wind during a flight
 2012-08-25 17:49:26 +10:00
Andrew Tridgell 34a1297842 SITL: added SIM_ENGINE_MUL 
this allows for simulated engine failures
 2012-08-17 14:22:08 +10:00
Andrew Tridgell 3419d8e006 SITL: fill in SIMSTATE.lat and SIMSTATE.lng 2012-08-11 11:58:25 +10:00
Andrew Tridgell 518d6365ff AP_Param: update remaining libraries for new constructor syntax 2012-08-08 12:11:57 +10:00
Andrew Tridgell ec0995eea1 SITL: lower baro noise a bit 2012-07-05 16:29:21 +10:00
Andrew Tridgell c35a2e999b SITL: added SIM_GPS_DELAY parameter 
this allows a delay to be added to the gps data to test the impact on
AHRS/DCM
 2012-07-04 21:05:22 +10:00
Andrew Tridgell ed691fc465 SITL: added SITL class for controlling simulation 
this holds mavlink settable parameters for controlling sensor noise
levels
 2012-06-29 15:10:51 +10:00