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Commit Graph

355 Commits

Author SHA1 Message Date
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