Commit Graph

8 Commits

Author SHA1 Message Date
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 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 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 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 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 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