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1097 Commits

Author SHA1 Message Date
Ryan Friedman da0efa3323 SITL: Bump up read rate on SITL 
* This is needed to do active configuration quickly
* Read/Write split and exposed to ensure physics/write rate is still
  coupled to avoid impacting the jamming and delayed data
* Created a utility to allocate the SITL instance

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-11-21 15:29:46 +11:00
Peter Barker afa263c691 SITL: set sitl point for GPS backends in constructor 
_sitl is guaranteed non-nullptr by the SITL::GPS::update()
 2023-11-18 13:59:28 +11:00
Peter Barker a018bed042 SITL: improve MegaSquirt simulator fidelity 2023-11-17 13:09:02 +11:00
Peter Barker ca16e924db SITL: add simulator Hirth EFI 2023-11-17 13:09:02 +11:00
Peter Barker 2f710a4689 SITL: correct MegaSquirt simulation 2023-11-17 13:09:02 +11:00
Peter Barker bd05fad850 SITL: add code to add, remove or corrupt bytes in SITL::SerialDevice xfrs 2023-11-17 10:56:25 +11:00
Peter Barker 2a2a103195 SITL: add JAE JRE simulator 2023-11-15 10:50:49 +11:00
Ryan Friedman 6273fee892 AP_GPS: Rename GSOF packing functions 
* Added docs for why they exist

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
 2023-11-03 13:25:39 +11:00
Peter Barker fbe690d44b SITL: track simulated ADSB vehicles relative to simulation origin 
removes dependence on ArduPilot AHRS library

Also removes vehicles based off vehicle simulated position rather than distance-from-origin, so you always have company
 2023-11-02 15:52:42 +11:00
Peter Barker 4ec80076a1 SITL: correct bit for enabling MXS simulation 2023-11-02 15:52:17 +11:00
Andrew Tridgell f7a1227c25 SITL: added SIM_MAG_SAVE_IDS 
this controls whether SITL saves device IDs for compasses on startup
so the compasses always appear calibrated
 2023-10-31 10:14:42 +11:00
Peter Barker fd67c71eb0 SITL: add Sagetech MXS simulator 2023-10-25 20:06:47 +11:00
Andrew Tridgell 030dfe2fa1 SITL: use AP_BUILD_ROOT 2023-10-25 09:50:08 +11:00
Andrew Tridgell 928d50900a SITL: use connect_timeout() for realflight 
this gives much better handling of network glitches, preventing long
simulation timeouts which impact on the stability of the simulation
 2023-10-23 20:27:49 +11:00
Anthony Luo 51cbaed9d9 SITL: fix typos 2023-10-05 12:54:43 +11:00
Anthony Luo 021d9717c4 SITL: document airspeed params 2023-10-05 08:18:44 +11:00
Andrew Tridgell be01fcfdfd SITL: use mavlink_XXX_encode_status() 
this avoids clobbering sequence numbers and fixes race conditions
 2023-10-02 21:45:28 +11:00
Samuel Tabor 40f62949b3 Send lat lon in SIM_STATE as int32_t extensions 2023-09-27 14:14:37 -07:00
Tom Pittenger 8c4d00e6f2 SITL: add a thermal at home 2023-09-27 12:19:00 -07:00
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