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960 Commits

Author SHA1 Message Date
oneWayOut
654aea1cd1 SITL: delete unused parameter 'Vector3f &body_accel' in Plane::calculate_forces() 2020-12-30 18:59:12 +11:00
Peter Barker
69c97c1565 SITL: add support for multiple i2c buses 2020-12-24 16:05:49 +11:00
Peter Barker
b5316c3b52 SITL: stash pressure in sitl_fdm structure 
It's not a great way of getting the data where needed - but it is
something.
 2020-12-22 23:07:24 +11:00
Peter Barker
0bb6f8897e SITL: add simulated DLVR airspeed sensor 2020-12-22 23:07:24 +11:00
Andrew Tridgell
a31ea88ff5 SITL: use async SOAP requests for flightaxis 
this greatly improves performance for cygwin
 2020-12-17 16:13:55 +11:00
Andrew Tridgell
8d6d5c6b49 SITL: removed flightaxis threading 2020-12-17 16:13:55 +11:00
Paul Riseborough
b258cb0539 SITL: Add momentum drag to Z axis to work around thrust model deficiencies 2020-12-11 15:21:41 +11:00
Paul Riseborough
a907c10733 SITL: Add momentum drag to multicopter model 2020-12-11 15:21:41 +11:00
Andrew Tridgell
b7f68e87b4 SITL: added barometer wind coefficients 2020-12-11 15:21:41 +11:00
Andrew Tridgell
3456bdb4eb SITL: added a separate param class for SITL baro params 
makes it easier to add more
 2020-12-11 15:21:41 +11:00
Peter Barker
449b0fb145 SITL: add simulated SF45B 2020-12-09 21:32:36 +11:00
Andrew Tridgell
445759295d SITL: fixed use of GND prefix 2020-12-08 13:22:17 +11:00
murata
13c7980f0b SITL: Support for decacopters 2020-12-08 11:59:10 +11:00
Peter Barker
e5423a3cf6 SITL: add terarangertower simulator 2020-12-08 09:21:06 +11:00
Peter Barker
bd5c34f626 SITL: improve instructions for using simulated RPLidarA2 sensor 2020-12-08 09:21:06 +11:00
Peter Barker
7d232b24d6 SITL: improve simulated serial proximity sensor 
SITL: rename measure_distance_at_angle to include '_bf'
 2020-12-08 09:21:06 +11:00
Peter Barker
6bc8ff2ee8 SITL: factor out an I2C command/response class from simulated MaxSonar sensor 2020-12-05 09:35:53 +11:00
Tom Pittenger
20d21fe175 SITL/examples: remove ADSB param that is already default 2020-11-30 16:05:17 +11:00
Peter Barker
f7b2856af0 SITL: add simulator for IntelligentEnergy 2.4kWh 
SITL: Added setup note to comment

SITL: IE24: Add Error param and cycle battery pwr
 2020-11-24 12:54:52 +11:00
Andrew Tridgell
bce4fd43a3 SITL: fixed GPS POS parameters 
SIM_GPS2_POS1_* makes no sense
 2020-11-24 12:01:04 +11:00
Michael du Breuil
892fb74c96 SITL: Add parameters for SFML_Joystick 2020-11-13 15:38:22 +11:00
Peter Barker
545a086865 SITL: make ToshibaLED an 8-bit register device 2020-11-12 21:19:55 +11:00
Peter Barker
e21e55ba51 SITL: add I2CRegister::8Bit for 8-bit-quantity devices 2020-11-12 21:19:55 +11:00
Huibean
a00243dc5a SITL: fix copter sitl build on macos 2020-11-12 20:39:51 +11:00
Peter Barker
d436e5b5d1 SITL: add simulator for Rotoye battery monitor 
Also correct temperature from generic battery simulator
 2020-11-11 19:27:21 +11:00
Andrew Tridgell
32bda36908 SITL: fixed build with no GCS 2020-11-10 16:15:45 +11:00
Andrew Tridgell
d8337cf9e5 SITL: allow loading of model from ROMFS 2020-10-28 14:20:44 +11:00
Andrew Tridgell
e07cecb264 SITL: added support for simulated battery discharge 2020-10-28 14:20:44 +11:00
Andrew Tridgell
a0bc9d3148 SITL: fixed quadplane mass and rpm indexing 2020-10-28 14:20:44 +11:00
Andrew Tridgell
767773da5e SITL: improved multicopter simulation 
this takes account of motor expo, velocity of air over propellers,
mass, size and other factors

It also allows for frame parameters to be supplied as an external json file
 2020-10-28 14:20:44 +11:00
Andrew Tridgell
c2661a0f09 SITL: added picojson.h header 
will be used for custom frame parameters
 2020-10-28 14:20:44 +11:00
Peter Barker
602a9592ce SITL: add Maxell SMBus battery support 2020-10-26 20:34:05 +11:00
Samuel Tabor
c9362fbb70 SITL: Calculate current in SIM_Plane. 2020-10-18 11:43:51 +11:00
Peter Barker
6711c479de SITL: fix RPLidarA2 instructions and diagnostic output 2020-10-02 16:05:15 +10:00
Peter Barker
a5a13f37c9 SITL: adjust for START_STOP_D now not polluting global namespace 2020-09-30 23:14:40 +10:00
Peter Barker
abab203b32 SITL: remove zero initialisations, move more into class definitions 2020-09-28 12:15:04 +10:00
Jovian Dsouza
a62a7e0bd1 SITL: correct Webots README.md 
Resolves :#15378
 2020-09-23 15:32:56 +10:00
Tom Pittenger
bd445bafc4 SITL: update ADSB sim to use squawk=1200 and set all valid flags 2020-09-15 13:09:50 -07:00
Andrew Tridgell
cd1502ab72 SITL: fixed string warnings 2020-09-15 09:40:03 +10:00
Iampete1
f350bfba78 SITL: JSON: don't warn for none required sections 2020-09-15 08:12:29 +10:00
dmitry
94d2f4ea0e SITL_AirSim: moved NED position initialization 
out of always false if -statement
 2020-09-13 08:04:09 +10:00
ashvath100
e21e720b12 SITL: walking robot script direction fix 2020-09-10 08:27:01 +09:00
Iampete1
8aeee4bc83 SITL: SIM_JSON:: add support for apparent wind sensor 2020-09-09 18:26:54 +10:00
Iampete1
2764126a1c SITL: add apparent wind sensor support 2020-09-09 18:26:54 +10:00
Andrew Tridgell
bf9c76a5c3 SITL: added SIM_MAGn_FAIL parameters 2020-09-08 11:01:14 +10:00
Samuel Tabor
21a8471d2d SITL: Add start time argument. 2020-09-07 21:20:25 +10:00
murata
a44defc49e SITL: Disabling debugging cyclic messages 
SITL: Disabling debugging cyclic messages
 2020-09-03 11:31:05 +10:00
Rajat Singhal
0f66936353 SITL: Airsim: Add support for rangefinder sensor data 
Also increase RC channels to 12
 2020-09-02 17:25:43 +10:00
Rajat Singhal
6085614364 SITL: Airsim: Resend servo output after timeout 
Plus some cleanup
 2020-09-02 17:25:43 +10:00
Tatsuya Yamaguchi
829cd29d7c SITL: fix when speedup is specified as a startup parameter 2020-09-02 17:13:22 +10:00
ashvath100
9ea390e24b SITL: pybullet script for walking robots 2020-09-01 09:33:24 +09:00
Andrew Tridgell
b18928e28e SITL: fixed SIM_IMU_COUNT conflict 
this came from merging two PRs which both changed SITL params
 2020-08-28 11:32:31 +10:00
Andrew Tridgell
c16467a47f SITL: added SIM_IMU_COUNT 2020-08-28 10:17:00 +10:00
Harshit Kumar Sankhla
8507c7d3b9 SITL: add some airspeed, baro, gps noise simulation parameters 
also some rearrangements in the parameter
lists to make things look better
 2020-08-27 20:20:51 +10:00
Andrew Tridgell
91b4830801 SITL: added SIM_GPS_ACC parameters 2020-08-25 10:22:05 +10:00
Iampete1
123d7e4683 SITL: examples: update JSON readme 2020-08-05 18:24:36 +10:00
Iampete1
bdec15f708 SITL: JSON add rangefinder support 2020-08-05 18:24:36 +10:00
Iampete1
537eec9091 SITL: add rangefinder support 2020-08-05 18:24:36 +10:00
Iampete1
16a9506cf2 SITL: SIM_Aircraft: add rangefinder array 2020-08-05 18:24:36 +10:00
Peter Barker
68b6b77a22 SITL: correct simulation of RichenPower generator 2020-08-05 16:26:19 +09:00
Peter Barker
b5050c1e11 SITL: add simulated MaxSonarI2CXL i2c sensor 2020-08-04 21:40:21 +10:00
Peter Barker
80d7a4ee5e SITL: simulated i2c support 2020-08-04 21:40:21 +10:00
Peter Barker
0303c5c4a8 SITL: move calculation of simulated rangefinder range to inside SIM_Aircraft 
this will allow us to use the for non-serial rangefinder backends
 2020-08-04 21:40:21 +10:00
Andrew Tridgell
849cb960e5 SITL: enable battery monitoring for flight axis by default 2020-08-02 12:25:03 +10:00
Mark Whitehorn
f9e129e617 SITL: read 12 flightaxis input channels 2020-07-27 12:02:53 +10:00
Peter Barker
d298980969 SITL: correct AP_Terrain cast-align compilation failure on SITL_arm_linux_gnueabihf 2020-07-23 18:10:06 +10:00
Peter Barker
4e3c23c969 SITL: ignore failure to pop servo sample from buffer 2020-07-20 10:19:47 +09:00
Iampete1
c8f1b44ee6 SITL: JSON: examples: update readme 2020-07-17 21:37:18 +10:00
Iampete1
6a2966c31b SITL: JSON: support quaternion and euler attitude 2020-07-17 21:37:18 +10:00
Andrew Tridgell
7e14f62fcd SITL: suppress cast-align warnings in SIM_XPlane 2020-07-10 13:31:27 +10:00
Andrew Tridgell
a6df0745a6 SITL: make all GPS params available for both GPS 2020-07-10 13:28:38 +10:00
Andrew Tridgell
f9f8822e47 SITL: added ship takeoff/landing simulation 
this allows for a ship with a given radius and speed, allowing for
testing of ship takeoff and landing systems
 2020-07-10 13:28:38 +10:00
Andrew Tridgell
925b44dee5 SITL: split out GPS and MAG parameters into their own tables 
this creates space for new parameter trees
 2020-07-10 13:28:38 +10:00
Harshit Kumar Sankhla
33ac9efe17 SITL: add parameters for 2nd baro 2020-07-08 16:25:31 +10:00
Andy Piper
98562cc523 SITL: build fix on macos 2020-07-08 08:52:30 +10:00
Andy Piper
34a28cce00 SITL: add CRSF simulation driver 2020-07-07 18:48:06 +10:00
Peter Barker
9d7fd47267 SITL: add simulated GY-US42-v2 rangefinder 2020-07-04 13:40:10 +10:00
Randy Mackay
443d4186a4 SITL: default vicon to send position and speed 2020-07-04 09:50:28 +09:00
Peter Barker
88c8dd8465 SITL: add RichenPower generator simulator 2020-07-03 08:21:42 +09:00
Peter Barker
ff46541604 SITL: add simulated LightWare serial lidar talking new binary protocol 2020-07-02 10:50:59 +10:00
Iampete1
992d84ac22 SILT: MATLAB add Simulink instuctions to readme 2020-07-01 09:13:57 +10:00
bnsgeyer
019482075d SITL: add Simulink heli example 2020-07-01 09:13:57 +10:00
Iampete1
63280111c9 SITL: add Simulnk Rover example 2020-07-01 09:13:57 +10:00
Iampete1
a63275ca39 SITL: examples: add Simulink libary and functions 2020-07-01 09:13:57 +10:00
Iampete1
c466274046 SILT: SIM_JSON: update logging and report airspeed 2020-07-01 09:13:57 +10:00
Peter Barker
30c65e57be SITL: remove use of Vector3 as function 2020-06-16 11:06:47 +10:00
Andrew Tridgell
9ddc7ea763 SITL: rebuilt linux tcp connector for matlab 2020-06-10 17:08:58 +10:00
Iampete1
2f99326db8 SITL: MATLAB: fix conector auto reconect 2020-06-10 17:08:58 +10:00
Iampete1
10000ed8ee SITL: recompile MATLAB pnet function 2020-06-10 17:08:58 +10:00
Randy Mackay
c4440a81f4 SITL: SIM_Vicon supports sending at 50hz 2020-06-09 09:42:14 +10:00
Iampete1
66cbed78f5 SITL: JSON examples: update readme 2020-06-08 17:50:03 +10:00
Andrew Tridgell
5d9e0cb58d SITL: added robot.py pybullet example code 2020-06-08 17:50:03 +10:00
Andrew Tridgell
ac5594566e SITL: rebuild matlab pnet for x86_64 linux 2020-06-08 17:50:03 +10:00
Andrew Tridgell
5b58b91626 SITL: allow connect back to originating port for matlab 2020-06-08 17:50:03 +10:00
Iampete1
f5e98a6d69 SITL: update MATLAB example 2020-06-08 17:50:03 +10:00
Iampete1
fbb4df97a3 SITL: SIM_JSON: update 2020-06-08 17:50:03 +10:00
Andrew Tridgell
44f727cfd2 SITL: removed use of extra port for JSON 2020-06-08 17:50:03 +10:00
Iampete1
c6603be64a SITL: MATLAB regenerate pnet.c for windows 2020-06-08 17:50:03 +10:00
Iampete1
99465b718f SITL: allow MATLAB pnet.c UDP no connect 2020-06-08 17:50:03 +10:00
Andrew Tridgell
843485ba5c SITL: fixed formatting of pnet.c 2020-06-08 17:50:03 +10:00
Paul Riseborough
71ae9426c5 SITL: Fix hand launch behaviour 
Launch acceleration should be multiplied by vehicle mass when calculating launch force.
10 m/s (1g) is much too low for a hand launch. 25 m/s (2.5g) over a shorter period is more realistic and will trigger the recommended value of TKOFF_THR_MINACC of 15 recommended for hand launches.
 2020-06-07 11:53:02 +10:00
Andrew Tridgell
2e7dc380c4 SITL: revert default physics step to 1200 
this should help us pass CI
 2020-06-06 08:17:25 +10:00
Andrew Tridgell
5349113104 SITL: improved the speedup code 
more accurate sleeps using sleep debt system
 2020-06-06 08:17:25 +10:00
Andrew Tridgell
750b220a5f SITL: simulations optimisations 
- change to 600Hz physics rate by default
 - don't export rotational acceleration (not needed)
 - report speedup in terminal output at 0.5Hz (wall clock rate)
 2020-06-06 08:17:25 +10:00
Andrew Tridgell
7c2d13c571 SITL: added simulation of pressure altitude for multicopter 
this gives us a ceiling of 5.4km above sea level for the default
copter
 2020-06-05 11:35:53 +10:00
bugobliterator
95493e4569 SITL: add support for per mag calibration 2020-06-05 09:38:40 +10:00
Alexander Maryanovsky
d73043fc2f SITL: get_wall_time_us() to use a monotonic clock on non-Windows systems 2020-06-04 10:05:22 +10:00
Andrew Tridgell
e4596efe9b SITL: added SIM_RATE_HZ 
this allows the physics step size to be changed while flying the
internal models, which allows for lower CPU usage
 2020-06-03 18:11:06 +10:00
Randy Mackay
31763424a3 SITL: speed up vicon messages to avoid EKF timeouts during resets 2020-06-02 08:33:42 +09:00
Randy Mackay
c8f6cb233b SITL: vicon supports sending vision-speed-estimate 
SIM_VICON_TMASK controls which of the 3 supported messages are sent
SIM_VICON_VGLI_X/Y/Z allows introducing a velocity glitch
 2020-06-02 08:33:42 +09:00
Randy Mackay
3a209d5d84 SITL: SIM_Vicon loses unused obs_elements structure 2020-06-02 08:33:42 +09:00
Iampete1
141ab622a3 SITL: examples: JSON: MATLAB: add pnet linux compiled 2020-05-29 08:25:24 +10:00
Iampete1
13965133b0 SITL: examples: JSON: add MATLAB example 2020-05-29 08:25:24 +10:00
Iampete1
fa712082d7 SITL: examples: add JSON readme 2020-05-29 08:25:24 +10:00
Iampete1
ce0cb9660f SITL: examples: add MATLAB TCP/UDP/IP Toolbox 2020-05-29 08:25:24 +10:00
Iampete1
0c6efa5f26 SITL: add JSON backend 2020-05-29 08:25:24 +10:00
Peter Barker
5bbb02e03b SITL: add support for simulated proximity sensors 2020-05-22 17:06:16 +10:00
Mark Whitehorn
a54f286c1b SITL: fixed running of example programs 2020-05-16 11:06:35 +10:00
Randy Mackay
b2dd6446c8 SITL: add comment to SIM_VICON 2020-05-15 10:07:52 +09:00
Randy Mackay
366d03a533 SITL: add VICON_YAWERR 
this allows simulating an error in the camera's reported yaw
 2020-05-15 09:22:07 +10:00
Randy Mackay
bf9ee4ada8 SITL: remove unused MAG_ERROR and VICON_HSTLEN params 2020-05-15 09:22:07 +10:00
mhefny
9f56b656e0 SITL: Revamp Examples to support multiple drones 2020-05-14 18:05:16 +10:00
mhefny
5a64156862 SITL: SITL-Webots timing is received from Webots only 2020-05-14 18:05:16 +10:00
Randy Mackay
d8bc197d35 SITL: add VICON_GLIT_XYZ, FAIL and YAW 
glitches are in meters in vicon's frame
fail disables sending of vision-position-estimate messages
yaw is the vicon's heading in degrees.  i.e. if vicon's "forward" is
pointing to the east, yaw should be set to 90
 2020-04-28 12:31:14 +09:00
Arash Negahdar
98dfc69887 SITL: Don't start scrimmage from ArduPilot 2020-04-28 11:09:51 +10:00
Mark Whitehorn
db1c7d9bdd SITL: add support for AHRS_ORIENTATION=ROTATION_CUSTOM 2020-04-28 10:57:26 +10:00
bnsgeyer
ce171107a3 SITL: update tradheli dynamics model for SITL 2020-04-28 10:45:33 +10:00
Willian Galvani
cf6f5502a4 SITL: Make Sub buoyancy a parameter 2020-04-27 12:48:52 -07:00
Mark Whitehorn
dbfbe50737 SITL: update flightaxis defaults 2020-04-22 12:36:03 +10:00
Peter Barker
653b554a31 SITL: add simulated mavlink-attached rangefinder 2020-04-21 20:44:59 +10:00
Peter Barker
cda0d14f57 SITL: add documentation for SITL and SMOO message 2020-04-21 09:48:43 +10:00
Peter Barker
ec7bde2be4 SITL: rename APMrover2 to Rover 2020-04-14 09:50:34 +09:00
Randy Mackay
3ccb3c69a6 SITL: add vicon position offsets 2020-04-14 10:28:03 +10:00
Andrew Tridgell
778532d556 SITL: added SIM_GPS2_HDG and rationalise the GPS position variables 2020-04-11 21:14:31 +10:00
Samuel Tabor
15cef55e97 SITL: Make thermal drift relative to 100m alt to avoid so much change with wind speed and direction." 2020-04-08 09:11:54 +10:00
Samuel Tabor
ae27f96361 SITL: Make soaring thermals slanted. 2020-04-08 09:11:54 +10:00
Samuel Tabor
5082c9be8b SITL: Add plane-soaring type, including parameters, mission, simulated thermals and glider sim settings. 2020-04-08 09:11:54 +10:00
Peter Barker
59dfaad749 SITL: provide method to retrieve desired speedup 2020-04-07 14:51:32 +10:00
Peter Barker
64c973b592 SITL: add documentation for AirSim ASM1,ASM2 log messages 2020-04-06 10:46:45 +10:00
Andrew Tridgell
09b272b840 SITL: added SIM_LED_LAYOUT parameter 
for layout of simulated LEDs
 2020-02-27 13:12:26 +11:00
Andy Piper
2033cf3b4a SITL: add SIM_VIB_MOT_MULT to allow motor noise to have a different amplitude to the fixed frequency noise 2020-02-22 11:15:37 +11:00
Andy Piper
c0c61660b0 SITL: quadplane updates 2020-02-22 11:15:37 +11:00
ashvath100
1c77df9169 SITL: Rename morse-rover to morse-skid 2020-02-21 08:23:54 +09:00
Siddharth Purohit
8a7dcafa0f SITL: add parameter MAG_DEVID in SITL 2020-02-19 13:59:53 +09:00
Rishabh
08f27f7668 SITL: Added cwx motor setup for hexa, octa and octaquad 2020-02-19 11:28:25 +09:00
mhefny
b935aa3355 SITL:adding slow-motion option argv -d for Quad & Tricopter controllers 2020-02-18 11:31:50 +11:00
mhefny
9cb3662db6 SITL:Webots-better time sync 2020-02-18 11:31:50 +11:00
murata
147a940451 SITL: Indicates that the message is SIM only 2020-02-18 11:23:52 +11:00
Mirko Denecke
899335e30b SITL: fix DisplayName and description of parameter 2020-02-18 09:29:47 +11:00
Mirko Denecke
2f435d5099 SITL: fix DisplayName and description of parameter 2020-02-18 09:29:15 +11:00
ashvath
66f123e2b4 SITL: Example for skid rover 2020-02-13 09:04:32 +11:00
ashvath
774b79e632 SITL: Parameters for skid rover 2020-02-13 09:04:32 +11:00
ashvath
5e2b693be4 SITL: Parameters for steering/throttle rover 2020-02-13 09:04:32 +11:00
ashvath
677dec5894 SITL: example for steering/throttle rover 2020-02-13 09:04:32 +11:00
ashvath
71f8c7cabb SITL: support for steering/throttle rover 2020-02-13 09:04:32 +11:00
Peter Barker
0cf747cdbe SITL: remove RCMAP_ parameters from SilentWings parameters 
These files contain a lot of values which happen to be the defaults.
These are some of them.
 2020-02-10 13:55:05 +11:00
Rishabh
dc662a56b2 SITL: Added DJI Hexa and Octa for SITL 2020-01-29 16:57:23 +09:00
Andrew Tridgell
fb3496b63b SITL: added SIM_GPS2_POS 
and re-arrange two sets of GPS parameters to be arrays
 2020-01-26 16:55:17 +11:00
Rajat Singhal
6bbf6f380f SITL: Add rover support for Airsim 2020-01-23 15:12:50 +11:00
Andrew Tridgell
dc80df23e9 SITL: added betaflight-rev-x frame 2020-01-16 19:13:13 +11:00
Andrew Tridgell
6218537ff7 SITL: fixed segv in SITL RCProtocolTest 2020-01-09 17:38:52 +11:00
Peter Barker
2f60f783d4 SITL: add simulated Frsky devices 2020-01-08 23:53:48 +11:00
Rajat Singhal
552191925b SITL: Add OA BendyRuler params for Airsim Lidar, rename file 2020-01-08 09:10:54 +09:00
Peter Barker
4cc7df8e15 SITL: emit hit-ground via mavlink 
This lets autotest look for it
 2020-01-01 22:10:43 +11:00
Andy Piper
a6a020b3c7 SITL: record throttle value instead of motors on/off 2019-12-31 10:34:02 +11:00
Andrew Tridgell
9b4764eb1f SITL: fixed airsim example scripts 2019-12-17 15:40:00 +11:00
Andrew Tridgell
061d778bfd SITL: improved AirSim quadX tuning 
and move params to normal location, so they are found with
sim_vehicle.py
 2019-12-17 15:40:00 +11:00
Andrew Tridgell
d657fed34a SITL: fixed accuracy of lat/lon in AirSim 2019-12-17 15:40:00 +11:00
Mark Whitehorn
76b985fc9c SITL: only recalculate ahrs rotation matrix if necessary 2019-12-17 11:42:40 +11:00
Mark Whitehorn
ab33679124 SITL: include ahrs_orientation in airspeed calculation 2019-12-17 11:42:40 +11:00
Andy Piper
c807267bab SITL: add rpm-based motor noise per-motor to gyros and accels 
convert multicopter thrust to rpm per motor
 2019-12-17 10:07:06 +11:00
Rajat Singhal
d34ccec084 SITL: Fix sensor data calculation in Airsim 2019-12-17 08:11:27 +11:00
Peter Barker
deadafd7c7 SITL: use https:// scheme for ardupilot URLs 2019-12-10 07:53:46 +11:00
Ebin
3daebe974e SITL: Fix for unrealistic speed and acceleration in Balance Bot 2019-12-09 09:00:31 +11:00
Rajat Singhal
a1e1558709 SITL: Test launch file for ROS multi-vehicle sim 2019-12-05 08:06:42 +08:00
Rajat Singhal
241d406ef3 SITL: Example script for ROS multi-vehicle with Airsim 2019-12-05 08:06:42 +08:00
Rajat Singhal
6a075b2556 SITL: Fixes, improvements to Airsim multi-vehicle script 
1. Kill all running Copter binaries while exiting
2. Set default GCS IP address
3. Fix mcast ip address for different platforms
4. Set variable for number of vehicles
 2019-12-05 08:06:20 +08:00
Willian Galvani
06e71b061a SITL: Sub: add square curve model to thruster 2019-12-03 10:55:08 -05:00
Andrew Tridgell
7b203f6816 SITL: added SIM_MAG_SCALING for testing scale factor errors 2019-12-03 20:48:23 +11:00
Peter Barker
d332118b05 SITL: increase Wasp reading frequency 
The driver requires a reading each time it is called (20Hz)
 2019-12-02 19:07:03 +11:00
Michael du Breuil
feead0a42c SITL: ADSB: Don't hard code the emitter type 2019-11-26 11:57:29 +11:00
Peter Barker
326ba5b974 SITL: support for virtual hardware safety switch 2019-11-26 10:14:11 +11:00
Andrew Tridgell
4d50996780 SITL: added MegaSquirt EFI simulation 2019-11-17 20:10:54 +11:00
Patrick José Pereira
e52fc375c4 Sub: Add fake sea floor and update range 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-11-12 10:02:29 -08:00
Willian Galvani
168a182310 SITL: Sub: add angular drag based on a laminar, external flow 2019-11-11 07:39:57 -08:00
Willian Galvani
393b018f31 SITL: Sub: Fix rotational physics logic 2019-11-11 07:39:57 -08:00
Willian Galvani
fbbfbe0103 SITL: Sub: Use proper phyisics for thrusters 2019-11-11 07:39:57 -08:00
Willian Galvani
9c2ffed876 SITL: Submarine: add torque for static stability 
Subs are statically stable regarding pitch and roll.
This patch reproduces this in SITL
 2019-11-11 07:39:57 -08:00
Willian Galvani
394aff6535 SITL: add deadzones to Sub thrusters PWM signals 2019-11-11 07:39:57 -08:00
Willian Galvani
1e2340fbb4 SITL: Fix buoyancy direction for earth-frame 
Previously the sub would just go upwards, so rolling it 180º caused it to sink
 2019-11-11 07:39:57 -08:00
Willian Galvani
e190d99bc6 SITL: Add 6dof frame for Sub 2019-11-11 07:39:57 -08:00
Willian Galvani
cc45aeb526 SITL: get rid of frame_vectored.h for Sub 2019-11-11 07:39:57 -08:00
Peter Barker
c1acdc4994 SITL: increase simulated rangefinder frequency to 5Hz 2019-11-09 08:01:53 +11:00
Peter Barker
7b046c8b75 SITL: improve testing instructions for simulated rangefinders 2019-11-09 08:01:53 +11:00
Peter Barker
df0233a7d1 SITL: add support for simulated serial rangefinders 
SITL: add base class for serial rangefinder simulators

SITL: add Benewake rangefinder simulator

SITL: add support for simulated LightWareSerial rangefinder

SITL: add support for simulated Lanbao rangefinder

SITL: add support for simulated BLping rangefinder

SITL: add support for simulated LeddarOne rangefinder

SITL: add support for simulated uLanding rangefinders

SITL: add support for simulated MaxsonarSerialLV rangefinders

SITL: add support for simulated Wasp rangefinders

SITL: add support for simulated NMEA rangefinders
 2019-11-08 20:12:28 +11:00
Peter Barker
990273a778 SITL: add accessor for rangefinder range 2019-11-08 20:12:28 +11:00
Peter Barker
270831d70d SITL: add bidirectional communication for simulated serial devices 2019-11-08 20:12:28 +11:00
Peter Hall
3d8a5de1f0 SITL: ADSB: pass home location not string 2019-11-05 11:46:59 +11:00
Peter Barker
acd03c6636 SIM_AirSim: correct format string issue 2019-11-05 11:29:08 +11:00
Andrew Tridgell
ae289052e9 SITL: added LED state 2019-11-04 13:01:59 +11:00
Peter Barker
a08443ff19 SITL: break out a SIM_SerialDevice base class, use it for SIM_Vicon 2019-10-29 18:41:13 +11:00
Patrick José Pereira
e18883fddf SITL: Add missing shove forces in SIM_Submarine 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-10-29 09:44:24 +11:00
Tom Pittenger
bbd6f3aa6c SITL: morse simulator should generate packets from same vehicle sysid 2019-10-21 14:29:30 +09:00
Peter Barker
47fbf70e85 SITL: create SITL tonealarm files to hold enable parameter 2019-10-16 16:00:35 +11:00
Peter Barker
32ec6d7e9a SITL: add a simulated buzzer 2019-10-16 16:00:35 +11:00
Ebin
f6c7ac88d0 SITL: Yaw rate calculation uses wheel offset 2019-10-07 07:31:53 +11:00
mhefny
92d55fa126 SITL: removed unnecessary files of webots 2019-09-30 04:46:38 +10:00
mhefny
8310058c8c SITL: adding Tricopter model in Webots 2019-09-25 13:34:47 +01:00
Andrew Tridgell
d2e75717b8 SITL: added a MotorBoat class 
a sailboat with zero sail area
 2019-09-23 17:22:01 +10:00
Andrew Tridgell
3d9f393f4b SITL: added SIM_LOOP_DELAY parameter 
this allows us to test high CPU load conditions by adding a delay to
each loop
 2019-09-19 18:25:20 +10:00
mhefny
375510ecc2 SITL: adding wind simulation in Webots 2019-09-12 13:22:26 +10:00
mhefny
bfb7e3af3b SITL: sending wind data to Webots controller 2019-09-12 13:22:26 +10:00
Rajat Singhal
5147b607c0 SITL: Correct Airsim params 2019-09-11 08:28:28 +10:00
Randy Mackay
d4b047fc1f SITL: Gripper_EPM compiler warning resolved by using float and fabsf 2019-09-10 09:15:56 +10:00
Randy Mackay
1fd7618238 SITL: remove unused time_diff member 2019-09-10 09:15:56 +10:00
Rajat Singhal
80bbadf9ca SITL: AirSim: Store last timestamp only 
Also change the datatype of deltat
 2019-08-29 08:32:19 +10:00
Rajat Singhal
86a70e5797 SITL: Remove redundant timestep in Airsim backend 2019-08-29 08:32:19 +10:00
Rajat Singhal
c056548f0d SITL: Enable Arming Checks in airsim-copter params 2019-08-29 08:32:19 +10:00
Michael du Breuil
fe279b03b6 SITL: Directly include needed headers 2019-08-28 13:13:03 +10:00
Andrew Tridgell
4ca48f225d SITL: send vicon data at 70ms intervals 
this matches the max rate that EK2 will accept this data
 2019-08-26 12:27:31 +10:00
Randy Mackay
257152aa55 SITL: sailboat motor enabled only for sailboat-motor frame 2019-08-21 19:34:13 +09:00
Randy Mackay
0ce1ce9c4f SITL: minor format changes for sailboat 2019-08-21 19:34:13 +09:00
mhefny
1e41f7cc61 SITL: add Webots support and examples 2019-08-19 19:36:25 +10:00
Rajat Singhal
ad9093251e SITL: Remove unused includes 2019-08-15 20:03:31 +10:00
Rajat Singhal
4e847342b1 SITL: Add license info in Airsim files 2019-08-15 20:03:31 +10:00
Peter Barker
169013cae2 SITL: allow starting location to come from parameters 2019-08-15 18:00:35 +10:00
Peter Barker
24405f1b23 SITL: correct and add comment 2019-08-15 18:00:35 +10:00
Peter Barker
f7b47679bb SITL: remove home_str from constructor 2019-08-15 15:16:11 +10:00
Peter Hall
4afcc9c289 SITL: sailboat allow motor sailing 2019-08-14 09:26:01 +09:00
Anthony Velte
92a9ab6c6d SITL: Add scrimmage simulator support 2019-08-13 10:07:26 +10:00
Peter Hall
2a3676003a SITL: sailboat add tide 2019-08-07 14:34:07 +09:00
Peter Hall
90bf224e7f SITL: sailboat add wave simulation and parameters 2019-08-07 14:34:07 +09:00
Andrew Tridgell
9672dce335 SITL: switch vicon simulation to use VISION_POSITION_ESTIMATE 
this is a more commonly used message
 2019-08-05 13:58:08 +10:00
Rajat Singhal
bd9120b725 SITL: Add script for multi-vehicle sim with AirSim 2019-08-04 07:57:46 +10:00
Rajat Singhal
8e7ab23b4f SITL: Add RC support for Airsim 
Adds variable length float array parsing
 2019-08-04 07:57:46 +10:00
Rajat Singhal
2954f2b4d0 SITL: Delete Airsim Readme 
Wiki Page has been added - http://ardupilot.org/dev/docs/sitl-with-airsim.html
 2019-08-04 07:57:46 +10:00
Rajat Singhal
ad5d3cb9f1 SITL: Add Airsim quadx lidar params 2019-08-04 07:57:46 +10:00
Rajat Singhal
2d25971801 SITL: Add Lidar Sensor for Airsim 
Adds variable length array of vector3f parsing
 2019-08-04 07:57:46 +10:00
Tom Pittenger
2dba187d30 SITL: Morse scanner lidar to use larger MAVLink msg instead of raw data squeezed into 8 sectors 2019-08-02 09:50:13 -06:00
Tom Pittenger
3f99def25a SITL: fix Morse simulator camera and changed default mission to indoor 2019-08-02 09:50:13 -06:00
Leonard Hall
fb790cadda Tools: update parameter files after PID upgrade 2019-07-25 17:38:15 +09:00
Peter Barker
81222fbde0 SITL: correct RC2_REV to RC2_REVERSED in comment 2019-07-24 13:36:26 +09:00
Josh Prochaska
6440069e7c SITL: include replace.h for AirSim to fix missing memrchr() on MacOS 2019-07-19 15:43:39 +10:00
Rajat Singhal
825c027f95 SITL: Added initial Airsim QuadX parameter file 2019-07-17 07:26:50 +10:00
Rajat Singhal
864f99f247 SITL: Added Readme for Airsim setup & usage 2019-07-17 07:26:50 +10:00
Rajat Singhal
ffbfdbf1df SITL: Added support for Airsim simulator 
Supports Lock-Step Scheduling, has JSON sensor packet parsing
 2019-07-17 07:26:50 +10:00
Andrew Tridgell
5c3afa2621 SITL: use AP_Math/definitions.h 2019-07-13 11:05:57 +10:00
Grant Morphett
2ce7955614 SITL: Create gps_hdt_enabled varible for enable/disable HDT GPS sentence 2019-07-13 11:05:57 +10:00
Peter Barker
a966c75deb SITL: remove unused forward declaration of AP_Logger 2019-07-09 10:57:20 +10:00
Peter Barker
e01ea2f5f9 SITL: support a count of baros 2019-07-09 10:01:23 +10:00
U-REDMOND\akolobov
3330b62d3c SITL: aded support for SilentWings simulator 2019-07-08 09:32:59 +10:00
Andrew Tridgell
626c632859 SITL: fixed pitch constraint on fixed wing takeoff 
fixes issue with jet takeoff
 2019-07-05 20:12:22 +10:00
Rajat Singhal
82413a1528 SITL: JSBSim: Fix comments 2019-07-03 23:58:22 -07:00
Andrew Tridgell
2eb09b2910 SITL: simple implementation of a fast jet 
just increase the weight and the rest can be done with params
 2019-07-03 08:05:09 +10:00
Michael du Breuil
b7bca441e5 SITL: Fix a number of includes that were coming in via AP_Airspeed 2019-06-27 14:56:21 +10:00
Peter Hall
5839c1ebf6 SITL: Sailboat: write rpm and airspeed for windvane backends 2019-05-28 08:35:58 +09:00
Rajat Singhal
8097b0ede3 SITL: Gazebo: Fixed comment, typos 2019-05-23 08:23:37 +09:00
Rajat Singhal
2c519d5176 SITL: Fix to sync to JSBSim simulation time 
SITL: Additional fix to remove time-lag in JSBSim
 2019-05-10 17:12:52 +10:00
Rajat Singhal
dedb7e108f SITL: Added <time> tag to JSBSim output directive 
Instructs JSBSim to transmit current simulation time which is used to sync with Ardupilot
 2019-05-10 17:12:52 +10:00
Rajat Singhal
2317e73e0b SITL: JSBSim: Use rate_hz to specify timestep 2019-05-10 17:12:52 +10:00
Rajat Singhal
732f2e7a2e SITL: Change JSBSim mode to Batch mode, specify nice sleeptime 
Previously it was run in realtime mode which doesn't support iterate command. Without setting sleeptime, defaults to 0.01s which slows down a lot
 2019-05-10 17:12:52 +10:00
Peter Barker
dd62489f5e AC_PrecLand: stop ignoring return values on methods 2019-05-09 13:03:49 +10:00
Peter Barker
6939a9fa91 SITL: add capability to twist the aircraft 
This makes the EKF very, very unhappy, but is useful for compass
calibration testing
 2019-04-23 10:06:17 +10:00
Pierre Kancir
92822a7f01 SITL: fix header 2019-04-23 09:20:43 +10:00
Andrew Tridgell
e18f40cc08 SITL: added IMU failure masks 2019-04-22 14:56:30 +10:00
Andrew Tridgell
ac7e969aae SITL: improve airspeed in FlightAxis for RF8 
use 3D wind to get airspeed along X axis of aircraft
 2019-04-15 10:07:54 +10:00
Andrew Tridgell
d57ea43ea6 SITL: fixed crash in example code run 2019-04-09 12:50:17 +10:00
Pierre Kancir
ebdcfdf65b SITL: use get_distance_NE instead of location_diff 2019-04-08 08:00:52 -07:00
Paul Riseborough
8ac8c7285b SITL: Add parameter for optical flow sensor noise 2019-04-02 10:51:12 +11:00
Patrick José Pereira
ab6b84e876 SITL: Fix typo in Sub 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-04-02 07:59:53 +11:00
Patrick José Pereira
8bb0772224 SITL: Add drag simulation in Sub 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-04-02 07:59:53 +11:00
Peter Barker
4c9651dbfd SITL: use enum class for AltFrame enumeration 2019-03-19 10:31:18 +11:00
Peter Barker
4db011f530 SITL: add SIM_SHOVE_* options to shove the simulated vehicle 
The parameter values are time in milliseconds and body-frame
acceleration in m/s/s

So to test throw mode:
 mode throw
 param set SIM_SHOVE_Z -30
 arm throttle
 param set SIM_SHOVE_TIME 500
 2019-03-12 11:09:37 +11:00
Andrew Tridgell
b1eeaa3019 SITL: fixed segv without SITL object 2019-03-04 11:00:40 +11:00
Pierre Kancir
04bc267a61 SITL: add precland object 
add position for precland object
add refresh rate
add alt and lateral range
add diffusion range
 2019-03-01 20:28:22 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
0b9d10c0f9 SITL: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Simon Schopferer
6beac98d4a fixed conversion of airspeed from ft/s to knots as defined in latest JSBSim versions 2019-02-26 09:14:42 +11:00
Peter Barker
166291cfef SITL: add missing override keywords 2019-02-22 15:01:09 +00:00
Peter Barker
44e89a1cd8 SITL: include stdio for some printfs 2019-02-15 08:15:45 +11:00
Peter Barker
44bc035f7b SITL: allow testing of throttle-goes-to-low-fixed-value rc failsafes 2019-02-14 11:49:59 +11:00
Peter Barker
ae03ccf2ba SITL: enable updating of external payload on SIM_Plane 2019-02-13 09:25:27 +09:00
Tom Pittenger
a4e91e196f SITL: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Peter Barker
9e7154ccb3 SITL: enable updating of external payloads for SIM_Rover 2019-02-09 11:02:22 +09:00
Peter Barker
badfd1d559 SITL: name parameters being passed to ICEngine contructor 2019-02-08 12:23:57 -07:00
Andrew Tridgell
40babb1172 SITL: support 3 more X quad motor orders 
- betaflight X
 - DJI X
 - clockwise X
 2019-02-06 11:17:35 +11:00
Andrew Tridgell
56683ba803 SITL: added SIM_BAUDRATE_EN parameter 2019-01-27 08:56:12 +11:00
Peter Barker
6fc76a32af GLOBAL: use AP::logger() and strip redundant Log_ from methods 2019-01-18 18:08:20 +11:00
Peter Barker
b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker
834b45ce18 SITL: stop taking DataFlash pointer as argument 2019-01-18 11:16:54 +11:00
Peter Barker
e3c719b27f SITL: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Andrew Tridgell
358c570d9d SITL: added simulated battery for quadplane 
needed for motor interference for mag
 2019-01-14 08:23:47 +11:00
Peter Barker
d3b9ac5c8c SITL: add simulated parachute 
Doesn't actually change aerodynamics at the moment
 2019-01-09 13:16:03 +11:00
Andrew Tridgell
9ca059ba16 SITL: added SIM_VIB_FREQ parameter 2019-01-08 06:49:02 +11:00
Fabio D'Urso
8ff9923e07 SITL: parse home coordinates as double (not float) to avoid precision loss 2019-01-05 21:38:41 +11:00
Andrew Tridgell
a4e0ecd368 SITL: added an example for plane/quad follow 2018-12-30 16:16:54 +11:00
Andrew Tridgell
28a12224c3 SITL: fixed FDM UDP socket for JSBSim 
needs to be uppercase for new versions
also improved debug output
 2018-12-18 13:06:03 +11:00
Willem Eerland
f8407dd33a SITL: fixed JSBSim backend for latest version 2018-12-18 13:06:03 +11:00
Andrew Tridgell
cb3b0bd373 SITL: don't try to connect Morse sockets so quickly 2018-12-08 12:36:30 +11:00
Andrew Tridgell
cdd7d1c83d SITL: added Morse rover follow example script 2018-12-07 10:31:04 +09:00
Andrew Tridgell
64abd7f318 SITL: added follow example for rover 2018-12-07 08:35:15 +11:00