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119 Commits

Author SHA1 Message Date
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 fd67c71eb0 SITL: add Sagetech MXS simulator 2023-10-25 20:06:47 +11:00
Peter Barker 34bceb8eec SITL: log achieved speedup rate 2023-09-23 19:49:02 +10:00
Peter Barker 7e0c178c6c SITL: add temperature to battery simulation 2023-09-05 07:17:00 +10:00
Willian Galvani 9179bce1ca SITL: initialize battery at 0V 2023-04-12 15:20:05 +10:00
bugobliterator 5f2dd4ab5c SITL: add support for testing DroneCAN 2023-03-29 17:16:39 +11:00
Andrew Tridgell 7a4483b091 SITL: new XPlane backend 
this makes use of DRefs to greatly improve XPlane support. It only
supports XPlane 11 and later

The key change is the use of a JSON file to map ArduPilot output
channels to DataRefs, and map raw joystick inputs to RC inputs

this gets rid of the awful throttle hack handling, and allows for
control of a much wider range of aircraft
 2023-01-31 11:22:08 +11:00
Andrew Tridgell a0af08a3aa SITL switched to motor_mask for which actuators are motors 
this allows for any output to be an ESC, which allows for proper
simulation of quadplanes with ESCs on outputs 5-8 or 9-12, for testing
notch filtering
 2022-10-16 20:38:19 +11:00
Peter Barker 6be8d9cd06 SITL: remove unneeded circular rangfinder include 2022-10-11 10:50:13 +11:00
Iampete1 f0c17f0e49 SITL: use AP_SIM_ENABLED define more 2022-04-26 10:26:29 +10:00
Peter Barker 497e6df326 SITL: correct submarine rangefinding 2021-12-11 20:10:10 +11:00
Peter Barker 97057a1350 SITL: add simulated FETtec ESC 2021-08-13 16:22:37 +10:00
bugobliterator 3033589fca SITL: change class name from SITL::SITL to SITL::SIM 2021-08-05 07:25:31 +10:00
Iampete1 612ea70e5b SITL: add JSON Master 2021-08-03 09:22:19 +10:00
Andrew Tridgell 5eaf76cdc8 SITL: separate origin and home in SITL 
this allows for accurate sensor data when flying a very long distance
from the takeoff location
 2021-07-14 17:34:40 +10:00
Peter Barker 05a0205c21 SITL: change to use terrain singleton 2021-07-12 17:34:44 +10:00
Andrew Tridgell fb275c9874 SITL: convert to double precision for positions 2021-06-24 21:34:30 +10:00
Peter Barker 4909f6f0f1 SITL: increase servo_filter array size 
used for plane-dspoiler frame
 2021-06-21 14:13:18 +10:00
Peter Barker 4a8f7d232a SITL: add accessor for battery voltage 2021-06-15 09:46:26 +10:00
Andrew Tridgell bf1f27af32 SITL: added is_lock_step_scheduled() API 
used to fix panic on bad timing
 2021-05-24 20:13:37 +10:00
Pierre Kancir cec82214d8 SITL: add local_ground_variable 2021-04-21 17:26:07 +10:00
Patrick José Pereira 07c3435f9d SITL: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +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 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
Peter Barker abab203b32 SITL: remove zero initialisations, move more into class definitions 2020-09-28 12:15:04 +10:00
Iampete1 2764126a1c SITL: add apparent wind sensor support 2020-09-09 18:26:54 +10:00
Iampete1 16a9506cf2 SITL: SIM_Aircraft: add rangefinder array 2020-08-05 18:24:36 +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
Mark Whitehorn f9e129e617 SITL: read 12 flightaxis input channels 2020-07-27 12:02:53 +10:00
Peter Barker 88c8dd8465 SITL: add RichenPower generator simulator 2020-07-03 08:21:42 +09:00
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
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
Mark Whitehorn db1c7d9bdd SITL: add support for AHRS_ORIENTATION=ROTATION_CUSTOM 2020-04-28 10:57:26 +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
Andy Piper c0c61660b0 SITL: quadplane updates 2020-02-22 11:15:37 +11:00
Mark Whitehorn 76b985fc9c SITL: only recalculate ahrs rotation matrix if necessary 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
Peter Barker 990273a778 SITL: add accessor for rangefinder range 2019-11-08 20:12:28 +11:00
Peter Barker 32ec6d7e9a SITL: add a simulated buzzer 2019-10-16 16:00:35 +11:00
Peter Barker 169013cae2 SITL: allow starting location to come from parameters 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
Anthony Velte 92a9ab6c6d SITL: Add scrimmage simulator support 2019-08-13 10:07:26 +10:00
Andrew Tridgell 5c3afa2621 SITL: use AP_Math/definitions.h 2019-07-13 11:05:57 +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 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
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