16 Commits

Author	SHA1	Message	Date
Andrew Tridgell	3300de2c9d	autotest: added some gyro and accel noise to copter sim ... this noise should be kinematically consistent, so will be better for the EKF	2015-04-21 21:33:27 +10:00
Andrew Tridgell	dbeaccc3d9	autotest: auto-adjust frame rate for crrcsim	2015-04-20 08:20:50 +10:00
Andrew Tridgell	82f6bb3c17	autotest: use common frame time handling	2015-04-13 10:08:12 +10:00
Andrew Tridgell	5947160fd7	autotest: removed delta_time from update_position() ... not available in some backends, and not needed	2015-04-01 09:11:25 -07:00
Andrew Tridgell	45887a5d28	autotest: run rover and copter with synthetic clock	2015-03-22 18:57:43 -07:00
Andrew Tridgell	4c9cb461d6	autotest: setup Rover autotest for Sparkfun course ... this will make it easier to test around the course	2013-05-17 10:37:11 +10:00
Andrew Tridgell	5cd5f40f09	autotest: switch to full accel modelling in multicopter simulation ... the new AHRS code should allow for centripetal compensation in multicopters	2012-06-27 16:01:50 +10:00
Andrew Tridgell	ff9743995d	autotest: fixed lat/lon update for multicopter sim ... this makes waypoint tracking more accurate	2012-06-05 11:18:52 +10:00
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	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