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317 Commits

Author SHA1 Message Date
Andrew Tridgell
b73732c361 autotest: removed unused files 2012-04-27 15:15:53 +10:00
Andrew Tridgell
95bd51ab10 autotest: updated pymavlink to latest 2012-04-27 15:15:52 +10:00
Andrew Tridgell
0e54613632 sitl: added sim_arducopter10.sh 
useful for testing
 2012-04-24 22:24:58 +10:00
Andrew Tridgell
9d4b37ecac sitl: we don't need mavlink in copter sim 2012-04-24 22:24:58 +10:00
Andrew Tridgell
1478191ecf sitl: make it easy to run sitl for MAVLink 1.0 2012-04-20 10:09:21 +10:00
Andrew Tridgell
d60126fc1f autotest: fixed overshoot due to low resolution log timing 2012-04-03 10:43:05 +10:00
Andrew Tridgell
abd33dd914 autotest: fixed order of startup messages 2012-04-03 09:53:26 +10:00
Andrew Tridgell
3b3f9d8b17 autotest: use the automatic declination code in autotest 2012-03-30 14:25:27 +11:00
Andrew Tridgell
c084a72723 pysim: ensure Vector3() uses floats 2012-03-29 12:39:53 +11:00
Andrew Tridgell
0f6e7a1449 pysim: implement partial 3D acceleration support 
The simulator flies very badly when using the full acceleration
code. I don't yet know if this is a bug in the simulation or a problem
with AHRS not handling acceleration for multicopters.

For now set the acceleration to be half a 'pure gravity' acceleration
and half from the full 3D calculation.
 2012-03-23 16:48:52 +11:00
Andrew Tridgell
f1acdb13c2 pysim: added experimental acceleration support 2012-03-23 16:48:52 +11:00
Andrew Tridgell
5f3e2cf98a pysim: update the multicopter simulator with correct acceleration 
this re-works the multicopter simulator in terms of rotation matrices,
and adds full acceleration support, which means it will include linear
acceleration affects and centripetal acceleration
 2012-03-22 23:00:45 +11:00
Andrew Tridgell
4407f6b8ca pysim: added rotmat.py 
this is a python library for rotation matrices, following the
conventions in AP_Math
 2012-03-22 23:00:45 +11:00
Andrew Tridgell
9cba330eed autotest: fixed the declination to match new compass 
we now use the declination for Canberra
 2012-03-21 10:41:55 +11:00
Andrew Tridgell
accc5dc02f autotest: run fg viewers with less CPU priority 2012-03-10 10:34:27 +11:00
Andrew Tridgell
5e66d3cecb autotest: added CMAC test circuit 
this is what I am using for noise testing
 2012-03-10 10:34:27 +11:00
Andrew Tridgell
57971e0ddf autotest: fixed xAccel calculation in fakepos.py 2012-02-25 11:37:20 +11:00
Jason Short
c10778d685 Better throttle for tests 2012-02-19 15:06:54 -08:00
Jason Short
11dd9564d9 SIMPLE mode throttle fix 2012-02-19 14:21:27 -08:00
Andrew Tridgell
e5ec810c92 autotest: fixed check of return code for build_all.sh 2012-02-20 09:17:08 +11:00
Andrew Tridgell
c3d6e64efb autotest: fixed directory for build_all.sh 2012-02-20 08:41:40 +11:00
Jason Short
1c9bb25f09 AP TEST fixes for new throttle control 2012-02-19 12:38:57 -08:00
Andrew Tridgell
4a766e1abd autotest: lower throttle level for lowering altitude in loiter 
we were not dropping altitude in the change_alt test
 2012-02-19 23:21:09 +11:00
Andrew Tridgell
9700afaf10 autotest: fixed failsafe test 
increased timeout, added check for home location, and fixed failure
testing on timeout
 2012-02-19 22:52:09 +11:00
Andrew Tridgell
66b95c14c5 autotest: added build_all.sh to autotest 2012-02-19 17:05:28 +11:00
Andrew Tridgell
92b3f86996 autotest: removed the pitch trim from the Rascal 
This interferes with the calculation of the centripetal acceleration
calculation in the DCM code. We need a new way of handling pitch trim
 2012-02-18 19:27:15 +11:00
Andrew Tridgell
ffa3330f93 autotest: fixed the calculation of the acceleration due to gravity 
this fixes the attitude calculation for the multicopter simulation
 2012-02-18 19:27:15 +11:00
Andrew Tridgell
3e7cc2499b autotest: increase the rudder gain 
this gives a bit better landing approach and turns in auto
 2012-02-15 08:50:45 +11:00
Andrew Tridgell
090068bee4 autotest: use more rudder for steering 
this helps the landing a lot
 2012-02-14 15:16:35 +11:00
Andrew Tridgell
1e7d3f5d48 autotest: raise the target airspeed on landing 
we were stalling the plane in the final meters of the approach
 2012-02-14 12:30:46 +11:00
Andrew Tridgell
d62cc01b65 autotest: adjusted APM parameters 
enable compass and tweak tuning
 2012-02-14 11:26:42 +11:00
Andrew Tridgell
8f18d08eb5 autotest: added a lot more interal checking 
check each of the sub-tests pass for overall pass
 2012-02-14 11:26:42 +11:00
Andrew Tridgell
27cd2893af autotest: fixed the directory that the git hash is fetched in 2012-02-14 09:06:24 +11:00
Andrew Tridgell
d574c78c2c autotest: fixed displayed git hash in autotest 2012-02-13 20:29:55 +11:00
Andrew Tridgell
669516cb15 autotest: fixed git hash parsing 2012-02-13 18:02:35 +11:00
Andrew Tridgell
d5b96fe9bd make it easy to run simulator under valgrind 2012-02-13 16:22:53 +11:00
Jason Short
9c5f77926f to speed up testing suite 2012-01-28 22:52:39 -08:00
Jason Short
973b0b72c5 Landing now disarms automatically. 2012-01-28 22:52:17 -08:00
Jason Short
d11eaa9265 Tweaks 2012-01-10 23:43:44 -08:00
Jason Short
7890b784b2 Added altitude 2012-01-10 23:42:26 -08:00
Jason Short
351be7c305 Made timer unsigned 2012-01-10 23:42:26 -08:00
Andrew Tridgell
861222f81d autotest: cope with startup messages in a different order 2012-01-09 18:09:04 +11:00
Andrew Tridgell
06b16a156e autotest: make history pages use the css style 2012-01-09 18:09:04 +11:00
Jason Short
0be68e679b updated throttle to keep altitude 2012-01-07 22:27:25 -08:00
Jason Short
431d472695 enabled failsafe on SIM parameters 2012-01-06 10:22:26 -08:00
Jason Short
c1314bc814 Added failsafe test 2012-01-06 10:22:13 -08:00
Jason Short
6d827d0087 Added RTL with Auto_land test 
Fixed Simple Mode test
 2012-01-05 22:13:20 -08:00
Jason Short
193848cea6 thought the commented out function was too cool to loose, but not using it now 
changed the WP index number
 2012-01-04 09:52:25 -08:00
Jason Short
fa2d84e557 Looking for larger than 255 numbers 2012-01-04 09:51:36 -08:00
Andrew Tridgell
2a3d4efb38 pysim: support octax 2012-01-04 22:15:17 +11:00
Andrew Tridgell
64b541037e autotest: change to an octa frame for autotest 
this will be a useful experiment
 2012-01-04 22:03:37 +11:00
Andrew Tridgell
efa649e51a autotest: fix for new sim_multicopter.py command 2012-01-04 21:49:19 +11:00
Andrew Tridgell
9df96d0e07 pysim: added more frame types 2012-01-04 21:45:58 +11:00
Andrew Tridgell
eab1ae59d0 pysim: accept frame type in sim_arducopter.sh 2012-01-04 19:34:28 +11:00
Andrew Tridgell
45b4e07776 pysim: show frame type at startup 2012-01-04 19:34:11 +11:00
Andrew Tridgell
ed5c9d4c47 rename sim_quad.py to sim_multicopter.py 2012-01-04 19:14:42 +11:00
Andrew Tridgell
ba9423f7de pysim: added --frame option 2012-01-04 19:13:47 +11:00
Andrew Tridgell
1670f1f65b pysim: generalise the quadcopter code for multicopters 
this allows for arbitrary multicopter motor arrangements
 2012-01-04 19:13:15 +11:00
Jason Short
986b42a45b Fixed Loiter Timeout bug, added more wind by default. 2011-12-29 23:02:02 -08:00
Jason Short
a9e1e9a8db Turn off Super Simple by default 2011-12-29 23:02:02 -08:00
Jason Short
a29aa020ff Made wind not reverse itself to be more natural 2011-12-29 23:02:02 -08:00
Andrew Tridgell
ddab189e42 autotest: update copies of pymavlink in autotest 2011-12-29 08:30:08 +11:00
Andrew Tridgell
8b9eb0dad1 autotest: fixed arducopter autotest 
no longer says "Please run setup"
 2011-12-26 20:10:10 +11:00
Jason Short
5038fcecd8 Added more detail 2011-12-23 14:42:49 -08:00
Jason Short
c9b2d1c3c2 Added fix for Takeoff Test 2011-12-23 14:42:49 -08:00
Andrew Tridgell
d626fcb52f added a copy of fdpexpect 2011-12-23 12:20:58 +11:00
Andrew Tridgell
30425063d8 more errno fixes for MacOS 2011-12-23 12:07:32 +11:00
Andrew Tridgell
d007ee996d fixed errno handling for MacOS 2011-12-23 11:59:25 +11:00
Andrew Tridgell
e4ed3cb583 fixed typo in fly_simple() 2011-12-22 10:25:31 +11:00
Andrew Tridgell
ab40539a76 autotest: increare tail wheel friction 
this keeps the plane moving in a straight line a bit more
 2011-12-19 11:36:21 +11:00
Andrew Tridgell
86b86c1bdf autotest: bit more throttle on takeoff 
needed for increased rolling friction
 2011-12-19 11:25:59 +11:00
Andrew Tridgell
991ce9077c autotest: add a DO_CHANGE_SPEED to arduplane test 
this slows down the Rascal for landing
 2011-12-19 11:25:59 +11:00
Andrew Tridgell
5dd453e535 autotest: improved the Rascal ground reactions 
this gets the friction and bounciness of the undercarriage much closer
to a real model
 2011-12-19 11:25:59 +11:00
Andrew Tridgell
345093e982 autotest: make the Rascal a tail dragger again 
good for testing wheeled takeoff
 2011-12-18 18:57:20 +11:00
Andrew Tridgell
42d7bf7fce autotest: added automated landing test for ArduPlane 2011-12-18 17:31:46 +11:00
Andrew Tridgell
ac5a76715b autotest: updates ArduPlane parameters 2011-12-18 17:31:45 +11:00
Andrew Tridgell
882b4cd739 autotest: fixed prog name 2011-12-16 20:10:12 +11:00
Andrew Tridgell
b1f912a355 autotest: fixed working directory in sample scripts 2011-12-16 20:10:07 +11:00
Jason Short
e6fd8a689e added SuperSimple and notes 2011-12-15 20:51:41 -08:00
Jason Short
ced4cf1538 testing updates 2011-12-15 20:51:41 -08:00
Jason Short
6e81b1a6f8 Added new tests 2011-12-15 20:51:41 -08:00
Jason Short
da8d342a08 Added Land control_mode 2011-12-15 20:51:41 -08:00
Jason Short
88b3708dcf added altitude to circle mission 2011-12-15 20:51:40 -08:00
Andrew Tridgell
eac97725f5 autotest: fgrate option has been removed from mavproxy 2011-12-13 21:34:53 +11:00
Andrew Tridgell
d68abb99a8 loosen RTL criterion (wind affected) 2011-12-13 20:05:39 +11:00
Andrew Tridgell
8847ee518d autotest: fixed loiter hold time 
hold time was larger than the timeout
 2011-12-13 19:08:47 +11:00
Andrew Tridgell
bb50154f1c autotest: fixed wind specification for arduplane test 2011-12-13 19:04:00 +11:00
Andrew Tridgell
2cc67d0a61 autotest: added a 5m/s wind blowing south in plane test 2011-12-13 15:29:13 +11:00
Andrew Tridgell
ad6c90c3b9 autotest: added wind support to ArduPlane simulation 2011-12-13 15:28:03 +11:00
Andrew Tridgell
35e45fefc9 autotest: show groundspeed in flightgear display 
useful with wind
 2011-12-13 15:27:32 +11:00
Andrew Tridgell
2c7e74b7a1 autotest: example startup scripts for simulators 2011-12-13 13:50:06 +11:00
Andrew Tridgell
77c791fb79 autotest: improved runsim defaults 2011-12-13 13:45:18 +11:00
Andrew Tridgell
6520c7be1b autotest: changed default sim_quad rate to 400Hz (matches autotest 
script)
 2011-12-13 13:44:53 +11:00
Jason Short
c58e9e9135 more control over loiter time and alt change 2011-12-12 17:47:46 -08:00
Andrew Tridgell
2c0e4c1c02 autotest: use 'enter 3 times' method to get into CLI 
this doesn't depend on build options
 2011-12-13 10:36:52 +11:00
Andrew Tridgell
da43b85422 autotest: added a test script for wind generation 
this makes it easier to experiment
 2011-12-13 10:36:52 +11:00
Andrew Tridgell
37641d2576 autotest: added a 2m/s wind from east to quadcopter test 2011-12-13 10:36:52 +11:00
Andrew Tridgell
228d1620d2 autotest: added --wind option to sim_quad 
this is in the form of speed,direction,turbulance
 2011-12-13 10:36:52 +11:00
Andrew Tridgell
a58e81469f autotest: added a wind generation class 2011-12-13 10:36:52 +11:00
Andrew Tridgell
bb6e582ce7 autotest: fixed motor order display 2011-12-12 23:14:29 +11:00
Andrew Tridgell
a3403aeb6c autotest: added logging of what failed 2011-12-12 23:08:20 +11:00
Andrew Tridgell
de1a5ab9ce autotest: increase stream rate to 5 for ArduCopter test 
needed to get accurate heading monitoring
 2011-12-12 23:07:46 +11:00
Andrew Tridgell
7301a8bddd pysim: added rotational resistance 2011-12-12 22:08:10 +11:00
Andrew Tridgell
ef8ed6aab2 autotest: calibrate accelerometers at startup 2011-12-12 22:07:53 +11:00
Andrew Tridgell
420bb9cc75 pysim: fixed the accelerometer calculation in the quad simulator 
this was causing severe drift in the attitude calculation
 2011-12-12 21:57:09 +11:00
Andrew Tridgell
12a271d4b2 autotest: nicer display in FG quadcopter view 2011-12-12 21:01:32 +11:00
Jason Short
9e6cf529b9 Cleaned up mission 3 2011-12-10 20:43:39 -08:00
Jason Short
f4a57557a8 Simple square test 2011-12-10 10:19:20 -08:00
Andrew Tridgell
5130a37a9e autotest: automatically pause when SITL sim stops 
this allows you to use gdb on the sim without crashing
 2011-12-09 15:05:27 +11:00
Andrew Tridgell
582154afb3 autotest: fixed rudder reversal for Rascal, and RC3 trim 2011-12-09 15:05:27 +11:00
Andrew Tridgell
e0d7e7cf0b autotest: nicer display of key data in Rascal 2011-12-09 15:05:27 +11:00
Andrew Tridgell
39d0d7ed49 autotest: fixed body/earth frames in sim_quad physics model 
Jason, can you have a look at this?
 2011-12-05 17:45:23 +11:00
Andrew Tridgell
0a7f2bcc44 autotest: use random MAVLink system IDs 
this allows more than one test to be viewed at the same time in
qgroundcontrol
 2011-12-03 07:55:03 +11:00
Andrew Tridgell
dedbfc8cca autotest: estimate the cost of sleeping for more accurate frame rate 
this gets us quite close to 1kHz simulation
 2011-12-03 07:38:51 +11:00
Andrew Tridgell
5be56a824d autotest: run the quad simulation at a much higher rate 
it now defaults to 1kHz
 2011-12-03 07:24:58 +11:00
Andrew Tridgell
e12fabebe9 autotest: updated fakepos.py for new packet format 2011-12-02 23:43:03 +11:00
Andrew Tridgell
f96a48e42b autotest: support all 11 PWM output channels 
this will allow for more complex aircraft
 2011-12-02 22:45:48 +11:00
Andrew Tridgell
66d65121cc autotest: switch to big-endian metric packets internally 
now that all the sim code is internal to the APM git repo, we can
choose saner packet formats
 2011-12-02 22:12:58 +11:00
Andrew Tridgell
fb3d4eab90 autotest: fixed sim_quad viewerip handling 2011-12-02 17:37:55 +11:00
Andrew Tridgell
1878db2013 autotest: don't die if FG isn't running 2011-12-02 17:37:55 +11:00
Andrew Tridgell
cf7073128d autotest: adapt test suite to new simulation framework 2011-12-02 17:37:55 +11:00
Andrew Tridgell
e6608b604b autotest: added a copy of pymavlink 2011-12-02 17:37:55 +11:00
Andrew Tridgell
05c6734ca2 autotest: added runsim.py 
this starts JSBSim, linking it into the SITL APM test code
 2011-12-02 17:37:55 +11:00
Andrew Tridgell
abbf02b674 autotest: useful script for testing gyro and accel calculations 2011-12-02 17:37:55 +11:00
Andrew Tridgell
76bb6b9aa8 autotest: added scripts to start flightgear as a viewer 2011-12-02 17:37:54 +11:00
Andrew Tridgell
65699a2f2f autotest: combined python utility code 2011-12-02 17:37:54 +11:00
Andrew Tridgell
0887804096 autotest: imported python quadcopter model as sim_quad.py 
this allows us to keep it in sync with the main SITL code
 2011-12-02 17:37:54 +11:00
Andrew Tridgell
544d2e6793 autotest: added Rascal and arducopter models 2011-12-02 17:37:54 +11:00
Jason Short
79945d02b7 made missions work with index of 1 2011-11-28 10:33:05 -08:00
Andrew Tridgell
f59f9668e9 autotest: use kmz file not kml 
saves bandwidth
 2011-11-28 16:53:20 +11:00
Andrew Tridgell
12025c8b54 autotest: added idle hooks for ArduPlane testing too 2011-11-28 16:22:33 +11:00
Andrew Tridgell
2e7a48ad9c autotest: show log numbers while dumping 2011-11-28 16:22:33 +11:00
Andrew Tridgell
f30bca01c9 autotest: use idle_hooks to prevent lockup 2011-11-28 13:53:57 +11:00
Andrew Tridgell
5784acd55f autotest: fixed log dump 
log numbers are no longer sequential
 2011-11-26 19:16:56 +11:00
Andrew Tridgell
8ab0dbdba7 autotest: fixed remote viewing of ArduCopter autotest 2011-11-26 18:35:25 +11:00
Andrew Tridgell
ee04c0ef50 autotest: cope with exceptions in tests leaving child processes 2011-11-26 18:12:42 +11:00
Andrew Tridgell
c64a5f354e autotest: enable new SITL emulation code 
this enables the register level SITL code
 2011-11-25 20:00:19 -08:00
Andrew Tridgell
5fd04e0c23 autotest: mark stdout unbuffered 
this makes the logs easier to read
 2011-11-25 20:00:19 -08:00
Andrew Tridgell
4877892d6e autotest: enable the compass for ArduCopter 
needed for new SITL code
 2011-11-25 20:00:19 -08:00
Jason Short
a47f28cfdb tweak to loiter turns command 2011-11-20 00:22:53 -08:00
Jason Short
14f0f7b6f3 lengthened log timeout 2011-11-19 17:31:36 -08:00
Jason Short
269c6d26c9 Added KML link 2011-11-19 16:59:54 -08:00
Jason Short
9e04d4c45b longer timeout 2011-11-19 14:59:48 -08:00
Jason Short
2d5ee0f7e2 Switched to Mission 2 2011-11-19 14:03:26 -08:00
Jason Short
f345c4c987 Checking for climb rate 2011-11-19 14:03:08 -08:00
Andrew Tridgell
f737d22026 autotest: added a loop to ArduPlane test 2011-11-18 17:50:12 +11:00
Andrew Tridgell
fdaa760aec autotest: use FG_SCENERY for fgear scenery path 2011-11-18 17:50:12 +11:00
Andrew Tridgell
dd8593273f autotest: make log messages on failure clearer 2011-11-18 17:50:12 +11:00
Andrew Tridgell
00374bea0a autotest: fixed killing of Xvfb 
this should make fly.ArduPlane more reliable
 2011-11-18 17:50:12 +11:00
Jason Short
4cf718854e Complex mission script 2011-11-16 21:29:10 -08:00