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85 Commits

Author SHA1 Message Date
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