Peter Barker
34bceb8eec
SITL: log achieved speedup rate
2023-09-23 19:49:02 +10:00
Peter Barker
1208938d3b
SITL: fix balancebot yaw reset to be kinimatically consistent
...
... or at least closer to it.
We were hard-resetting the yaw to zero when the vehicle was upright. That makes for huge simulated gyro rates, and that means the differences between the gyros can be huge sample-to-sample, so we can get gyros-inconsistent errors.
Fix things so we don't reset yaw at the same time as pitch, and also twist the vehicle to point North again when disarmed.
2023-09-20 22:59:41 +10:00
Anthony Luo
f0d7a367f4
SITL: document SIM_FLOW_* params
2023-09-12 18:56:06 +10:00
James O'Shannessy
8125ba1a41
SITL: add hardware relay enable mask for passing relays through to hardware
2023-09-11 12:21:13 +10:00
Ryan Friedman
0432863832
SITL: Add missing shebang
...
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-09-08 17:09:26 +10:00
Peter Barker
d9818ae1ab
SITL: add simulation instructions for TSYS03 sensor
2023-09-06 23:00:30 +10:00
Anthony Luo
6201f56d40
SITL: document SITL GPS params
...
* Document GPS_LAG_MS
* Document GPS2_LAG_MS, Consistency fixes
* document DriftAlt & Hz
* document GPS_POS offsets
* document locktime and noise
* document GPS_ALT_OFS and GPS_HDG
* document GPS_ACC
* Finish documenting GPS parameters
2023-09-05 10:02:43 +10:00
Peter Barker
390b025fa0
SITL: add simulator for TSYS03 temperature sensor
2023-09-05 07:17:00 +10:00
Peter Barker
7e0c178c6c
SITL: add temperature to battery simulation
2023-09-05 07:17:00 +10:00
Anthony Luo
991e429afb
SITL: document SIM_GPS_BYTELOSS and SIM_GPS_NUMSATS
2023-08-31 16:58:06 +10:00
Andrew Tridgell
3508d7eaa9
SITL: added SIM_CAN_TYPE0 and SIM_CAN_TYPE1
...
this selects the transport to use for CAN
2023-08-29 15:09:48 +10:00
Ryan Friedman
461a8dc86f
SITL: split to MicroStrain5
...
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-08-29 10:31:44 +10:00
Peter Barker
7fff465251
SITL: SIM_ICEngine sends diagnostics to GCS rather than stdout
...
makes it much easier to see what the simulated engine is doing
2023-08-26 21:21:49 +10:00
Peter Barker
149921792c
SITL: document SIM_ACCx_BIAS_y
2023-08-26 16:15:58 +10:00
Andrew Tridgell
1b6c329de5
SITL: use NaN for invalid rangefinder data
...
needed to cope properly with terrain errors leading to negative
rangefinder data
2023-08-24 13:06:40 +10:00
Andrew Tridgell
4e71023018
SITL: added SIM_CAN_SRV_MSK
...
mask of outputs that will come from the CAN SITL peripheral
2023-08-24 13:06:40 +10:00
Andrew Tridgell
9cde659545
SITL: disable gimbal and ADSB in SITL periph
...
lack of MAVLink makes these problematic
2023-08-24 13:06:40 +10:00
Andrew Tridgell
791d0acefe
SITL: removed GPS FIFO
2023-08-24 13:06:40 +10:00
Peter Barker
84b3c9e267
SITL: reset balancebot to vertical in a kinmetically consistent manner
...
The hard-reset of all state variables means we feed the EKF inconsistent gyro data. Attempt to upright the vehicle with a simple p-gain when it is disarmed, as if someone is pushing the thing back upright
2023-08-21 22:09:04 +10:00
Michelle Rossouw
26bbd6536a
SITL: Improve Blimp dynamics and fin motion to be more realistic, allow SITL loop rate to be changed and add more logging
2023-08-21 21:01:47 +10:00
Andrew Tridgell
3e3c086ab7
SITL: build the whole simulator as double precision
2023-08-15 22:39:23 +10:00
Michelle Rossouw
e4d44c1006
SITL: Make SIM_Aircraft use double precision to stop SITL's short-range teleporting
2023-08-12 10:49:02 +10:00
Peter Barker
7f8df080f8
SITL: correct compilation for CubeOrange-SimOnHardware
...
../../libraries/SITL/SIM_GPS.cpp: In member function 'void SITL::GPS::send_gsof(const uint8_t*, uint16_t)':
../../libraries/SITL/SIM_GPS.cpp:1292:24: error: 'AP_InternalError' has not been declared
1292 | INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
2023-08-11 12:40:59 +10:00
Peter Barker
65cc16c51d
SITL: add descriptions for simulated IMU scale factors
2023-08-11 10:34:02 +10:00
Peter Barker
cbd2b199eb
SITL: factor simulated GPS
2023-08-11 10:01:56 +10:00
Ryan Friedman
6a2a852450
SITL: Implement GSOF SIM
...
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-08-09 12:26:10 +10:00
bnsgeyer
53100c8e96
SITL: fix vertical axis dynamics for autorotation
2023-08-07 22:10:09 -04:00
Ryan Friedman
843a14ee57
SITL: Add heading and speed_2d utils
...
* These are also needed by the upcoming GSOF PR
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-08-07 08:40:58 -07:00
Ryan Friedman
7c2baa75d9
SITL: Rename LORD to MicroStrain
...
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-08-07 19:16:03 +10:00
Peter Barker
5d52d7f78b
SITL: add description for SIM_BATT_VOLTAGE
2023-08-07 15:32:31 +10:00
Andrew Tridgell
217f073165
SITL: added simulated MSP GPS
2023-07-31 14:24:04 +10:00
Andy Piper
3224cf19a8
SITL: remove unused variables
2023-07-13 11:02:40 +10:00
Peter Barker
6b87318062
SITL: act on safety switch being enabled in SITL by zeroing outputs
2023-07-12 17:53:12 +10:00
rishabsingh3003
6b8dfdfc10
SITL: Add simulated nooploop tofsense
2023-06-28 17:16:22 +10:00
Peter Barker
320bd43334
SITL: use SIM_config for ship and adsb simulations
2023-06-17 17:57:15 +10:00
Peter Barker
5791aea3fc
SITL: correct compilation when AP_SIM_IS31FL3195_ENABLED off
...
object won't exist in that case
2023-06-17 15:14:45 +10:00
bnsgeyer
a18c818949
SITL: cleanup tradheli gas engine inputs
2023-06-16 23:18:23 +10:00
bnsgeyer
1bef3839e5
SITL: tradheli - add gas engine model for conventional heli
2023-06-16 23:18:23 +10:00
Peter Barker
7952e99813
SITL: add IS31FL3195 simulator
2023-06-15 12:14:26 +10:00
Randy Mackay
29292c2aaa
SITL: simulated SF45b fixes and enhancements
...
resolve crash if time_delta_ms is too long
correct sample_count calculation
sends one reading per 3deg (closer to real device)
distance max is 53m
returns -1m on failure
sweeps back and forth -190~190 deg
2023-06-14 17:49:30 +10:00
Ryan Friedman
35dda812ae
SITL: Value Semantics for TOW calc
...
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
2023-05-31 15:01:31 +10:00
Peter Barker
dccac6dfd0
SITL: add documentation for SIM_GPS_TYPE and SIM_GPS2_TYPE
2023-05-25 17:59:12 +10:00
Peter Barker
34a55166f8
SITL: correct compilation for SimOnHardware
2023-05-22 22:55:54 +10:00
Peter Barker
bce2625918
SITL: fix missing method declaration compile failure
...
RyanF found this when eliminating other problems
2023-05-20 17:28:08 +10:00
Henry Wurzburg
68ff5a2b48
SITL: add metadata to simulated compass
2023-05-18 11:18:23 +10:00
Henry Wurzburg
0a060aa520
SITL: Move SITL on hdwr scripts to Tools and simplify
2023-05-16 21:11:36 +10:00
Peter Barker
29d6c51f43
SITL: stop using mavlink channels for packing messages
...
precedent was set in the mavlink rangefinder; we don't need to re-use SITL buffers for this
2023-05-16 10:17:56 +10:00
Peter Barker
ae7fb93e4c
AP_HAL_SITL: add simulated RPLidarA1
2023-05-16 10:15:23 +10:00
Peter Barker
2257d4686f
SITL: add simulated RPLidarA1
2023-05-16 10:15:23 +10:00
Peter Barker
ae6b1ffc8f
SITL: factor RPLidar simulation to allow for subclassing
2023-05-16 10:15:23 +10:00