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960 Commits

Author SHA1 Message Date
Andrew Tridgell 68e0b5b7fa SITL: support XPlane-11 
the packets are prefixed with DATA* instead of DATA@

This makes it work with both versions
 2017-04-09 16:39:26 +10:00
Guilherme Sousa 204fcba8c1 SITL: Added SIM_ENGINE_FAIL to define failed motor 2017-03-29 22:39:51 +11:00
Pierre Kancir 1a374aa9f6 SIM_Gazebo: add a timeout to reset timestamp check 2017-03-18 19:58:11 +11:00
Pierre Kancir 29d35699f2 SITL: Gazebo, throw old paquet based on timestamp as we are using UDP 
Add some comments
 2017-03-18 19:58:11 +11:00
Pierre Kancir d612209c19 SITL: Gazebo fix implicit cast 2017-03-18 19:58:11 +11:00
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 8f2bdf51ea SITL: gazebo add socket drain 2017-03-18 19:58:11 +11:00
Pierre Kancir 1bb4e3c9b7 AP_IRLock_SITL: make port variable 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
CSe 491b545fab SITL: fix gimbal connection on Windows 2017-03-17 00:43:21 +00:00
Randy Mackay 07ce7b8bd6 SITL: add GPS2_GLITCH parameter 2017-03-13 11:31:51 +11:00
jaxxzer b98573d55f SITL: Improved Sub simulation 
-Constrain z axis movement between -100m (seafloor) and 0m (water
surface)
-More accurate thruster modelling
 2017-03-07 09:35:41 +11:00
Rustom Jehangir 36f3cae535 SITL: Add support for Sub 2017-02-21 11:26:14 +11:00
Andrew Tridgell d338d9c0aa SITL: fixed whitespace on flightaxis code 2017-02-18 17:26:43 +11:00
Andrew Tridgell 3c8020862c SITL: support a builtin tailsitter vehicle type 2017-02-18 17:26:43 +11:00
Andrew Tridgell 8bd1fc63d5 SITL: support pitch90 and pitch270 in FlightAxis 
used for flying tailsitters
 2017-02-18 17:26:43 +11:00
Michael du Breuil ef0c51da42 SITL: Add GPS noise parameter 2017-02-13 09:23:14 +11:00
Andrew Tridgell 0171b64feb SITL: setup simulator to match firefly6 AvA servo outputs 2017-02-06 16:18:58 +11:00
Andrew Tridgell 642e5aa5b7 SITL: match simulated tilt rate for CL84 to real vehicle 2017-01-25 19:01:15 +11:00
Peter Barker 8b38ce666d SITL: SIM_XPlane: fix fabsf/abs warning; location alts are in integer cm 2017-01-17 09:41:37 -08:00
Andrew Tridgell 39ab1a0abc SITL: adapt to new RC_Channel API 2017-01-12 17:39:37 +11:00
Pierre Kancir c0be20ece2 SITL: XPLANE fix member shadowing 2017-01-09 06:51:48 -08:00
Andrew Tridgell eaf5676636 SITL: fixed unselection bitmask bug in XPlane 2017-01-09 09:55:14 +11:00
Andrew Tridgell 35d6dc141a SITL: only de-select data types in xplane once 
don't fight the user
 2017-01-07 14:41:23 +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
Randy Mackay 3ed9eb98f3 SITL: minor comment fix for SIM_Multicopter 2016-12-19 17:01:04 +09:00
Andrew Tridgell 65c3d0e060 SITL: added ACC2_BIAS 2016-12-19 08:07:14 +11:00
Pierre Kancir a5161edc97 SITL: remove duplicate 2016-12-05 10:59:45 -08:00
Peter Barker 20b86605fa SITL: gripper closes faster, vary load carried by gripper 
If gripper is closed on ground it is considered to be carrying
something
 2016-12-02 12:04:05 +11:00
Peter Barker b751f836bb SITL: attach a string with a mass on the end to servo gripper 2016-12-02 12:04:05 +11:00
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
Andrew Tridgell 42435e700b SITL: expose height above ground to all models 2016-11-28 08:26:56 +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
Lucas De Marchi f6d475c1e6 AP_HAL_SITL: add O_CLOEXEC in places missing it 
By opening with O_CLOEXEC we make sure we don't leak the file descriptor
when we are exec'ing or calling out subprograms. Right now we currently
don't do it so there's no harm, but it's good practice in Linux to have
it.
 2016-11-07 12:37:30 -03:00
Peter Barker d9cbcd9487 SITL: a simulator for the EPM grabber 2016-11-05 10:20:43 +09:00
Peter Barker d439bbe5bf SITL: SIM_Gripper_Servo, a simulated servo gripper 2016-11-05 10:20:29 +09:00
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
Peter Barker 1997a4e044 SITL: include mass of sprayer payload in vehicle mass 2016-10-29 15:02:56 +09:00
Peter Barker a7867603a0 SITL: SIM_Sprayer: a simulated sprayer 2016-10-29 15:02:48 +09:00
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
priseborough 27dab27565 SITL: Add parameters for sensor position offsets in body frame 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
Peter Barker 6f200cdc3d SITL: SIM_Rover: remove unused variables 2016-10-24 08:57:55 -02:00
Peter Barker d3422d1653 SITL: SIM_Tracker: remove unused variable 2016-10-24 08:57:55 -02:00
Georacer 54c1efe5e1 Connection to last_letter once again successful 2016-10-17 09:37:23 +11:00
John Hsu fc13efa673 SITL: update SIM_Gazebo SITL interface servo packet to have 16 floats, matching sitl_input struct. 2016-10-13 12:03:20 +11:00
Gustavo Jose de Sousa 06c3102701 SITL: SIM_Calibration: bring angular velocity controller back 
And fix header documentation.
 2016-10-11 12:58:37 +11:00
Murilo Belluzzo 0b86532b5c Global: Remove '\r' character from all source code files 2016-10-03 22:13:27 -03:00
Michael Oborne 11c376588d AP_GPS_NOVA: support tersus/novatel/comnav gps 2016-09-20 10:53:49 +10:00
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 8f35305496 SITL: added a simpler compass cal simulation 
just output 1250 to servo5 and it will go through lots of rotations
 2016-09-16 08:59:43 +10:00
Andrew Tridgell 3aba0d8359 SITL: fixed rover altitude 
thanks to Grant for noticing this
 2016-08-24 13:29:45 +10:00
Andrew Tridgell 49b82b767f SITL: added RPM for heli sim 2016-08-23 09:30:14 +10:00
Andrew Tridgell 3ecf2850a8 SITL: fixed send of MAVLink2 pkt 2016-08-16 16:33:36 -07:00
Tom Pittenger 19ac9bce48 SITL: add Ping2020 simulated device 2016-08-16 16:33:36 -07:00
Andrew Tridgell 622d26b122 SITL: expand to 16 output channels 
needed for IC engine testing with octaquadplane
 2016-07-25 15:45:39 +10:00
Andrew Tridgell e73d43d4f9 SITL: improve ICEngine simulation 2016-07-25 10:06:02 +10:00
Andrew Tridgell 995fb7cd86 SITL: added IC engine simulation 2016-07-25 10:06:02 +10:00
Andrew Tridgell 4301faeac9 SITL: map X-Plane Mixture inputs to channels 6 and 7 
this gives two user controllable channels for experimental aircraft
 2016-07-22 19:14:46 +10:00
Andrew Tridgell 69da7e9f86 SITL: added elevrev option for plane sim 
used by autotest
 2016-07-22 16:42:23 +10:00
Andrew Tridgell f075fcd79f SITL: added SIM_PIN_MASK 
for simulation of GPIO pins
 2016-07-22 15:01:20 +10:00
Tom Pittenger 44a60f278a SITL: change default of SIM_ADSB_RADIUS from 1E3 to 10E3 2016-07-21 00:04:20 -07:00
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 4faa57074a SITL: removed vehicle specific ground handling 2016-07-19 14:47:47 +10:00
Andrew Tridgell e7a54c83d1 SITL: allow SITL to use terrain data for ground height 2016-07-19 14:42:31 +10:00
Tom Pittenger acaf0c6a5d SITL: LPF the SIM_WIND_DIR and SIM_WIND_SPD values to eliminate step inputs 2016-07-15 18:37:40 -07:00
Andrew Tridgell 4e8b4f29d9 SITL: added -heavy option to fixed wing model 2016-07-16 08:14:29 +10:00
Andrew Tridgell f3f34be9c4 SITL: added comment on heli interlock 2016-07-12 20:50:22 +10:00
Andrew Tridgell 4f17093add SITL: give a bit more pitch on tail in XPlane heli 2016-07-12 19:08:50 +10:00
Andrew Tridgell fdd20830d6 SITL: use flaps for collective on helis in X-Plane 10 
works for more helis
 2016-07-12 19:08:50 +10:00
Andrew Tridgell 871219d199 SITL: support helicopters with X-Plane 10 
we get collective from "throttle2" and get interlock from generator1 on/off
 2016-07-12 14:40:08 +10:00
Andrew Tridgell 0be442d34b SITL: improved throttle input in XPlane 
reduce chance that throttle output will be interpreted as input
 2016-07-05 09:48:40 +10:00
Andrew Tridgell f387f248d3 SITL: added support for servo slew rates and retract servos 
this is for tiltrotors with retract servos
 2016-07-05 09:40:37 +10:00
Andrew Tridgell 82f131667d SITL: added flaps control in XPlane 2016-06-30 20:26:00 +10:00
Andrew Tridgell a6e927d434 SITL: default gyro cal off in XPlane and FlightAxis 
pointless doing cal on these backends
 2016-06-24 10:32:52 +10:00
Andrew Tridgell 569443231a SITL: improved altitude data in XPlane 2016-06-20 12:52:13 +10:00
Andrew Tridgell 51fff00871 SITL: report data and frame rates in XPlane 
and avoid time going backwards if possible
 2016-06-20 12:52:13 +10:00
Andrew Tridgell b7395ee74b SITL: fixed sign of magnetic inclination 2016-06-20 11:17:36 +10:00
Andrew Tridgell 5b7b799046 SITL: fixed mag field in JSBSim and last_letter 2016-06-20 11:07:51 +10:00
Andrew Tridgell 16595d2f3b SITL: auto-set AHRS_EKF_TYPE to 10 for XPlane and FlightAxis 2016-06-20 08:38:53 +10:00
Andrew Tridgell 2f88c24f49 SITL: added debug showing UDP ports for XPlane 2016-06-19 21:18:19 +10:00
Andrew Tridgell ec5534bd6a SITL: explain the throttle_magic code for XPlane 2016-06-19 21:10:49 +10:00
Andrew Tridgell f76a7e64ca SITL: auto-select correct data fields from X-Plane10 2016-06-19 20:57:34 +10:00
Andrew Tridgell 4f99c17aae SITL: added X-Plane 10 SITL backend 2016-06-19 13:59:15 +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 1770f314ac SITL: change SIM_ADSB default to -1 to default disabled to leave telem port available 2016-06-15 17:22:54 -07:00
Andrew Tridgell 027788f72b SITL: fixed gimbal simulator for recent MAVLink2 changes 2016-06-16 10:17:28 +10:00
Andrew Tridgell 145ab1d626 SITL: fixed send of ADSB_Vehicle packets with recent MAVLink2 changes 2016-06-16 10:15:07 +10:00
Tom Pittenger 0ed868d97b SITL: compiler warning, comparing float to 0 2016-06-14 21:05:38 -07:00
Tom Pittenger c3b241ca88 SITL: change ADSB_VEHICLE update rate to 1Hz instead of 2Hz to match PING behavior 2016-06-14 21:05:32 -07:00
Tom Pittenger 95da4accfb SITL: add SIM_ADSB_COUNT, RADIUS, ALT params 2016-06-14 21:00:39 -07:00
Andrew Tridgell 9e9a048016 SITL: make heli RPM rpm1 in FlightAxis 2016-06-04 18:33:36 +10:00
Andrew Tridgell 79ffc28f68 SITL: fixed ground accel for helis in FlightAxis 
fixes landing detection
 2016-06-04 15:52:00 +10:00
Andrew Tridgell 7c227ac96c SITL: debug code for logging raw SITL data 2016-06-04 14:21:21 +10:00
Andrew Tridgell f6a7c1839a SITL: use FlightAxis body accel 
less noisy than rotating early accel
 2016-06-04 14:20:55 +10:00
Andrew Tridgell f6e42cb3e2 SITL: cope with restarting RealFlight while connected 2016-06-04 12:07:03 +10:00
Andrew Tridgell 9c13ac997e SITL: use FlightAxis accel when not touching the ground 2016-06-04 11:34:57 +10:00
Andrew Tridgell 0b9fca6ef9 SITL: use quaternion attitude from FlightAxis 2016-06-04 11:04:15 +10:00
Andrew Tridgell f4f0ae8c8b SITL: auto-reconnect FlightAxis on reset button 2016-05-29 19:17:29 +10:00
Leonard Hall e5bdf0a0a2 SITL: Single and Coax fixes 2016-05-29 16:12:13 +10:00
Andrew Tridgell 4c66e14563 SITL: fixed air resistance bug for heli, balloon and singlecopter 2016-05-26 20:38:20 +10:00
Randy Mackay d26a9d4a22 SITL: fix compiler warning by defaulting frame_type 2016-05-26 17:03:28 +09:00
Andrew Tridgell 9f33ece3ef SITL: support coax copter 2016-05-26 17:08:27 +10:00
Andrew Tridgell 8944d298ed SITL: added SingleCopter simulator 2016-05-26 16:30:39 +10:00
Grant Morphett 52755c893d Rover: Print message when running skid steering SITL 2016-05-24 12:24:53 +10:00
Tom Pittenger c77a5e6764 SITL: rename aspd variables and params to arspd 2016-05-17 16:36:07 -07:00
Peter Barker 7510e4d0a7 SITL: setsid() when starting JSBSim so Ctrl-C doesn't kill it in GDB 2016-05-11 14:10:48 +10:00
Andrew Tridgell 88b910c13d SITL: changed firefly motors to be suitable for a pixhawk 
get channel groupings right
 2016-05-11 05:55:25 +10:00
Andrew Tridgell 3e1cad5df2 SITL: adjust tricopter so default yaw servo values will work 2016-05-11 05:55:24 +10:00
Andrew Tridgell 48ca1a8d92 SITL: increase the mass of the plane to 2kg 
less wafty in the air
 2016-05-11 05:55:24 +10:00
Andrew Tridgell 9c90709872 SITL: fixed namespace of SITL classes 2016-05-11 05:55:23 +10:00
Andrew Tridgell 91abc636f4 SITL: fixed quadplanes with elevons 2016-05-11 05:55:23 +10:00
Andrew Tridgell 2d47ca8095 SITL: fixed moment of rotated motors 2016-05-11 05:55:23 +10:00
Andrew Tridgell bd8cd71745 SITL: fixed fwd motor angles for tri and y6 frames 
should be 60 degrees to have motors evenly spaced around frame for
equal lift per motor when level
 2016-05-11 05:55:23 +10:00
Andrew Tridgell 125a9feb3d SITL: added tilttri frame type 
tiltrotor tricopter
 2016-05-11 05:55:22 +10:00
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00
Gustavo Jose de Sousa 9fa85d9bcf SITL: add SIM_Calibration 
That model can be used to run compass and accelerometer calibration by rotating
the vehicle through the servos channels.
 2016-05-10 16:16:37 +10:00
Gustavo Jose de Sousa 45754ef37c SITL: Multicopter: remove leftover comment 
That went unnoticed by 8a98ce4 ("SITL: moved to common code for attitude/pos
update")
 2016-05-10 16:16:37 +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 7cdab2a6c9 SITL: FlightAxis can support 8 channels 2016-05-04 13:05:43 +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 68e17af070 SITL: allow for changing FlightAxis controller IP 2016-04-29 09:03:48 +10:00
Andrew Tridgell e428d1e72d SITL: support tricopter quadplanes 2016-04-28 22:36:53 +10:00
Andrew Tridgell 9e01d7de6c SITL: added support for "quad-fast" frame 
much more powerful copter for testing nav at high speed
 2016-04-28 10:05:04 +10:00
Andrew Tridgell 785ad0614a SITL: fixed coverity 125055 2016-04-26 16:46:06 +10:00
Andrew Tridgell ed4e8b635a SITL: fixed fd leak 
coverity #125056
 2016-04-26 16:43:54 +10:00
Andrew Tridgell 847483d744 SITL: fixed coverity warning 2016-04-26 16:37:17 +10:00
Andrew Tridgell 180a7905e5 SITL: make Z down in motors 2016-04-22 10:45:55 +10:00
Andrew Tridgell aa80851138 SITL: support fireflyY6 quadplane model 2016-04-22 10:28:15 +10:00
Andrew Tridgell 8880635fe1 SITL: support vtail and elevon planes in builtin plane sim 
remove old tiltrotor in favor of new tiltrotor code
 2016-04-22 10:28:15 +10:00
Andrew Tridgell b4d24d8e03 SITL: fixed rotations of motors by large angles 2016-04-22 10:28:15 +10:00
Andrew Tridgell 71ca534ec6 SITL: added Y6 frame 2016-04-21 21:11:38 +10:00
Andrew Tridgell 49822effca SITL: added tricopter simulator 2016-04-21 20:29:49 +10:00
Andrew Tridgell c262d6a1b4 SITL: break up multicopter into Motor/Frame/Multicopter classes 
ready for more tiltrotors
 2016-04-21 19:56:44 +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
Grant Morphett 5861b754cc Rover: fixing a bug the Rover simulation 
Just a small change to ensure the max_wheel_turn parameter is used
instead of a hard coded value.
 2016-04-14 08:55:04 +09:00
Andrew Tridgell 7dcd17a2fa SITL: make multicopter motors only effective above 10% 2016-04-02 22:45:05 +11:00
Andrew Tridgell 73a2c99d56 SITL: limit rotational rate to 2000dps 2016-03-26 14:23:05 +11:00
Andrew Tridgell 1d42b0281a SITL: ADSB: fixed heading and fixed windows startup 2016-03-18 11:18:19 +11:00
Andrew Tridgell b0ac6c26e0 SITL: support octaquad in quadplane sim 2016-03-13 10:12:14 +11:00
Will Sackfield 8b5fa9d23d SITL: Initialise yaw_rate and pitch_rate 
* Clang requires these variables to be initialized
 2016-02-29 14:14:37 +11:00
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