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234 Commits

Author SHA1 Message Date
Lorenz Meier d860bdcdc0 Update VTOL gains 2016-06-18 17:03:49 +02:00
Lorenz Meier 3ef6ee056f Sync rate control gains 2016-06-18 16:58:04 +02:00
Lorenz Meier afdc8cdf55 VTOL: Use standard attitude gains 2016-06-18 16:29:28 +02:00
Lorenz Meier 0126e49841 Solo: Use the right mixer 2016-06-17 22:44:42 +02:00
Lorenz Meier dff50072e9 Add new airframe meta files 2016-06-17 22:44:42 +02:00
Lorenz Meier c248adb18d Fix tuning gains for Solo and tailsitter 2016-06-17 22:44:42 +02:00
Lorenz Meier 7a6ff4742d Add Solo sim model (#4761) 2016-06-07 21:25:35 +02:00
Lorenz Meier b0d05c19bc Update SITL config posix-configs/SITL/init/rcS_multiple_gazebo_iris 2016-06-05 12:53:32 +02:00
Lorenz Meier 6608c98192 Update SITL config posix-configs/SITL/init/rcS_lpe_jmavsim_iris 2016-06-05 12:43:04 +02:00
Lorenz Meier 53b1bbd49f UPpdate SITL config posix-configs/SITL/init/rcS_lpe_gazebo_iris_opt_flow 2016-06-05 12:42:52 +02:00
Lorenz Meier 50f4a603e8 Update SITL config posix-configs/SITL/init/rcS_lpe_gazebo_iris 2016-06-05 12:42:37 +02:00
Lorenz Meier 17e28ceeb1 Update SITL config posix-configs/SITL/init/rcS_jmavsim_iris 2016-06-05 12:42:22 +02:00
Lorenz Meier e5ba214f34 Update SITL config posix-configs/SITL/init/rcS_gazebo_tailsitter 2016-06-05 12:42:08 +02:00
Lorenz Meier da943b0007 Update SITL config posix-configs/SITL/init/rcS_gazebo_standard_vtol 2016-06-05 12:41:55 +02:00
Lorenz Meier a651f3dae5 Update SITL config posix-configs/SITL/init/rcS_gazebo_plane 2016-06-05 12:41:43 +02:00
Lorenz Meier b198638a6c Update SITL config posix-configs/SITL/init/rcS_gazebo_iris_opt_flow 2016-06-05 12:40:41 +02:00
Lorenz Meier e19b373347 Updatee SITL config rcS_gazebo_iris 2016-06-05 12:40:25 +02:00
Lorenz Meier ff5a481c34 Remove unneeded EKF2 configs 2016-05-28 11:34:08 +02:00
Lorenz Meier c3974446bd Update Gazebo tuning gains 2016-05-28 11:31:39 +02:00
Julian Oes 6ddffb71ea SITL init: set EKF2 params for SITL 
The sensors in the SITL environment are near ideal, so the
initialization in ekf2 can happen quicker.
 2016-05-18 12:44:04 +10:00
Julian Oes 1e155776fd Revert "Switch from EKF2 to LPE since SITL s is not any more a bearable workflow with EKF2 init lag" 
This reverts commit 503966165b.
 2016-05-18 12:44:04 +10:00
Lorenz Meier 503966165b Switch from EKF2 to LPE since SITL s is not any more a bearable workflow with EKF2 init lag 2016-05-13 22:05:07 +02:00
korotkoves a8bbbcbff5 scripts for runnung multiple SITL 2016-05-13 13:23:54 +02:00
Daniel Agar d804f5727e run tests in posix sitl with gazebo 2016-05-13 13:01:42 +02:00
Daniel Agar 008354f935 testing cleanup 2016-05-13 13:01:41 +02:00
Daniel Agar 39d388051a WIP posix_sitl_test 2016-05-13 13:01:41 +02:00
Lorenz Meier 2fc6cdd994 Gazebo SITL: Ensure a tightly closed altitude control loop 2016-04-27 15:30:44 +02:00
Lorenz Meier f533e00d5c SITL configs: Fix param names 2016-04-25 08:44:51 +02:00
Lorenz Meier 7d57713dd5 Start simulator after params have been loaded and set 2016-04-23 14:33:10 +02:00
Andreas Antener bee2c98785 reorganized posix sitl launch scripts, reorganized mavros python test scripts (integration tests) and updated them for posix sitl, removed old and not working integration tests 2016-04-20 16:51:58 +02:00
Andreas Antener a8a57ca20c make iris move a bit faster in gazebo and removed broken assertion from posctl test 2016-04-20 11:07:02 +02:00
Simone Guscetti 211e667639 Configure mavlink to connect to localhost 2016-04-17 21:55:43 +02:00
Lorenz Meier 43473b10a8 Better defaults for posix SITL 2016-04-08 22:36:07 -07:00
Lorenz Meier a8ccc2b087 jMAVSIM / IRIS: Disarm on land 2016-04-08 22:15:37 -07:00
Lorenz Meier 678c7dfdf4 IRIS / SITL: Disarm on land 2016-04-08 22:15:06 -07:00
Lorenz Meier 075a6e3d4e Update IRIS configs to match new simulator dynamics and fixes 2016-04-08 21:51:00 -07:00
Lorenz Meier 504e42561f Gazebo IRIS: Fly with default gains 2016-04-08 18:21:26 -07:00
Lorenz Meier 0231b512b4 Plane: Use appropriate idle speed 2016-04-08 17:24:14 -07:00
Lorenz Meier 7c4479fa7a Start attitude estimator Q stream 2016-04-06 11:17:50 -07:00
Lorenz Meier 97be79496f LPE: Add attitude quaternion stream 2016-04-06 11:17:50 -07:00
Lorenz Meier bd99b9de64 Gazebo configs: Enable attitude quaternion stream 2016-04-06 11:17:50 -07:00
Lorenz Meier 0a606462d2 Add attitude quaternion stream for iris config 2016-04-06 11:17:50 -07:00
Lorenz Meier d990a43c62 Add attitude quaternion stream for EKF2 config 2016-04-06 11:17:50 -07:00
Lorenz Meier a0a0e5edd6 Add attitude quaternion stream for FW config 2016-04-06 11:17:50 -07:00
Roman f3e147f57b make replay faster 2016-04-05 21:24:11 +02:00
Lorenz Meier c29bfcd1fe Enable data loss failsafe in SITL so we doo not RTL on RC failure 2016-03-13 19:49:05 +01:00
Lorenz Meier 2d25ef36bb Complete plane config 2016-03-12 12:06:17 +01:00
Lorenz Meier d7254c2b01 Fix SITL configs 2016-03-11 16:42:17 +01:00
Lorenz Meier f5dd944e46 Add Gazebo plane config 2016-03-11 16:42:17 +01:00
James Goppert ac66050cd6 LPE tuning for GPS delay in sim. 2016-03-08 08:56:33 -05:00
James Goppert c677d446d3 LPE SITL script updates. 2016-03-08 05:07:27 -05:00
Lorenz Meier 730ce4535f Switch all SITL configs to EKF2 2016-02-28 16:36:56 +01:00
Lorenz Meier d7c8acd15c CMake: Add replay config 2016-02-27 11:48:31 +01:00
sander b4d95a7a48 Bump gazebo_standard_vtol to ekf2 2016-02-26 09:42:08 +01:00
Andreas Antener 570fb97163 updated timeout logic to work only on waypoints with forced headings, updated param docs accordingly 2016-02-15 23:29:47 +01:00
Andreas Antener bb4decfa8b implemented basic heading timeout for waypoint acceptance, added parameter for yaw error on waypoint heading acceptance, set yaw timeout for vtol default 2016-02-15 23:26:28 +01:00
James Goppert 612d80a59a Removed inav from startup. 2016-02-11 17:31:38 +01:00
James Goppert 9172c7c491 Added lpe flow gazebo config. 2016-02-11 17:31:38 +01:00
Lorenz Meier e8344de38a Iris: Add custom startup script 2016-02-10 09:24:39 +01:00
Andreas Antener 4e0559eacf updated mpc parameters for sitl standard vtol 2016-02-08 11:09:12 +01:00
Andreas Antener e32ec2a29a wait until until vehicle enters transition before continuing after transition command 2016-02-08 11:09:11 +01:00
Lorenz Meier 86c8308e98 POSIX configs: Send to port 14540 for onboard links 2016-02-01 11:20:04 +01:00
Lorenz Meier fcbd717200 Switch POSIX sitl to EKF2 per default 2016-01-25 22:42:53 +01:00
James Goppert 759b107468 Update LPE sitl init script. 2016-01-24 05:16:02 -05:00
tumbili 960a233fe9 added startup script for standard vtol plane in SITL 2016-01-14 16:07:01 +01:00
Roman Bapst 181cbd383c tailsitter gazebo: lower max climb/descend velocity 2016-01-12 13:40:33 +01:00
Lorenz Meier 7d5a12f997 Re-instate logging for tailsitter 2016-01-05 22:53:44 +01:00
Lorenz Meier 2be8d1a58a Disable sdlog2 for tailsitter 2016-01-04 18:17:56 +01:00
Lorenz Meier 85b3de0b00 Start 2nd MAVLink instance in jMAVSim SITL 2015-12-30 17:25:27 +01:00
Lorenz Meier 38fe768421 Start 2nd MAVLink instance in Gazebo SITL 2015-12-30 17:24:01 +01:00
Andreas Antener 65299e7aaf updated jmavsim iris config for takeoff and landing 2015-12-28 15:23:20 +01:00
Lorenz Meier ed8645a83b Add EKF2 config and startup option for jMAVSim 2015-12-23 06:23:16 +01:00
Lorenz Meier e72c672350 POSIX configs: Default normal config back to normal operation 2015-12-23 06:23:16 +01:00
tumbili ddad6d2019 remove old estimator from startup file 2015-12-23 06:23:15 +01:00
Roman 63ac712eab allow testing ekf2 in simulation with jmavsim 2015-12-23 06:23:15 +01:00
Roman 19a5f9e73d updated ecl lib 2015-12-23 06:23:15 +01:00
Lorenz Meier d2e4566c49 Reset Iris jMAVSim tuning gains from master 2015-12-18 15:55:16 +00:00
Lorenz Meier 144e0793b1 SITL: Further adjust gains to more realistic values 2015-12-18 15:55:16 +00:00
Lorenz Meier eef4ccea1a Adjust jMAVSim Iris gains 2015-12-18 15:55:16 +00:00
Lorenz Meier e9da8167e0 LPE: Fix config name 2015-12-17 11:10:31 +00:00
Lorenz Meier 2a1b1fe11d SITL: Better Navigation defaults for multicopters 2015-12-03 21:25:46 +01:00
Lorenz Meier a78afc818f SITL: IRIS / ROS: Use Joystick 2015-12-01 20:47:09 +01:00
Lorenz Meier c5c0864546 SITL: jMAVSim and Iris use joystick 2015-12-01 20:46:51 +01:00
Lorenz Meier bc4bbce1e3 SITL: Tailsitter uses joystick 2015-12-01 20:46:26 +01:00
Lorenz Meier 3886e33f85 SITL: Gazebo uses joystick 2015-12-01 20:46:12 +01:00
Lorenz Meier 425d707112 SITL: Fixed wing uses joystick 2015-12-01 20:45:57 +01:00
Lorenz Meier 0cc74205a0 jMAVSim: Set stiffer gains 2015-12-01 12:42:57 +01:00
Lorenz Meier 0ec334128c Gazebo tailsitter config: Start correct RGB sim 2015-11-23 12:41:13 +01:00
Lorenz Meier 885635ed0c Gazebo iris config: start correct RGB sim 2015-11-23 12:40:54 +01:00
Lorenz Meier 4e5b2a1db7 POSIX: Fix sensor ID 2015-11-22 15:56:01 +01:00
Lorenz Meier bef79955fc POSIX startup: Fix device IDs 2015-11-21 17:46:00 +01:00
Lorenz Meier 4606bc927e Fix SITL / jMAVSim with correct start script 2015-11-20 09:23:39 +01:00
tumbili cf338246fc renamed SITL startup script for iris 2015-11-18 16:11:10 +01:00
tumbili d86ca63c78 added gazebo startup script for tailsitter 2015-11-18 16:11:10 +01:00
jgoppert 4241e526aa Updated sitl scripts for LPE. 2015-10-26 16:03:22 -04:00
tumbili 0c3f519445 renamed SITL startup scripts 2015-10-26 12:18:24 +01:00
jgoppert 0106be3e89 Added local position estimator. 2015-10-24 20:34:33 +02:00
tumbili c9a3b7b9b0 added config file SITL iris with gazebo 2015-10-17 13:30:44 +02:00
Lorenz Meier fefdcd3fa9 Merge master into cmake-2 2015-10-03 15:34:30 +02:00
v01d 645a7df6b9 add OPTICAL_FLOW_RAD mavlink stream for SITL 2015-10-02 23:45:36 +02:00
Lorenz Meier 9778ed30d7 Fixed wing / IRIS startup: Fix relative paths 2015-09-20 17:33:46 +02:00
Lorenz Meier 715a0f0a50 SITL: Fix paths 2015-09-20 16:41:34 +02:00
Lorenz Meier 0fd605cd20 Enfore 1s sleep after sensor start, force joystick back to simulation mode 2015-09-07 15:40:25 +02:00
tumbili b2bef75bb4 start simulated airspeed sensor driver for fixed wing SITL 2015-09-04 22:34:28 +02:00
Lorenz Meier 348484fac3 POSIX: Start commander after sensors 2015-09-04 19:58:23 +02:00
Lorenz Meier 3a2e2ef304 Do not default to Joystick input for SITL 2015-09-04 14:57:51 +02:00
tumbili 8c6dc8cdf5 start logger for SITL 2015-09-03 10:00:57 +02:00
tumbili 4c03c5137e load correct mixer for sitl plane 2015-09-01 09:36:27 +02:00
Lorenz Meier 6927e62e77 POSIX: Run pwm_out_sim as the hil command got renamed to it 2015-08-28 09:53:45 +02:00
Daniel Agar d8ee4afcef fix example SITL rcS path 2015-08-07 15:59:51 -04:00
Lorenz Meier ea7ae7d019 Merged beta into master 2015-08-01 16:58:02 +02:00
devbharat 6a40c173fd Added the launch file 2015-07-23 18:54:58 +02:00
devbharat 9a6f52736b Added launchfile to launch gazebo iris and mavros bridge. Added sitl_gazebo to makefile and new init rc file for gazebo iris apps and params 2015-07-23 15:45:59 +02:00
Lorenz Meier 44eff36819 SITL: Run more streams at higher rates 2015-07-09 00:49:40 +02:00
Lorenz Meier 8c004fa6d8 SITL: Move simulator startup to the beginning of the startup 2015-07-04 07:25:08 -07:00
Lorenz Meier e19a068ebb Better SITL gains for yaw 2015-07-02 00:04:06 -07:00
Lorenz Meier efb7d9393e POSIX: Set SITL gains back to normal vehicle defaults 2015-07-01 23:59:39 -07:00
Lorenz Meier 1cb572f484 POSIX: Fix MAVLink sequencing 2015-07-01 18:27:01 -07:00
Lorenz Meier c7e94baa5b Update SITL docs 2015-07-01 12:56:22 +02:00
tumbili c49511fb66 start land detector for SITL 2015-06-26 15:07:22 +02:00
tumbili f7a6afc976 improve SITL startup script 2015-06-26 00:43:26 +02:00
tumbili 8a3ac1f541 set SYS_RESTART_TYPE in sitl startup, normally IO does that 2015-06-22 13:47:11 +02:00
Lorenz Meier 7df785ed50 POSIX: Use the same estimators for multicopters as on the real system 2015-06-21 17:20:31 -07:00
Lorenz Meier 3627456dd6 POSIX config: Fix order of dev IDs 2015-06-19 12:01:48 -07:00
Lorenz Meier bf24d42a79 POSIX: Fix SITL startup script 2015-06-19 10:44:36 -07:00
Lorenz Meier a652642286 POSIX: Fix dataman start order 2015-06-18 14:24:35 -07:00
Mark Charlebois 7734195242 gpssim: cleaned up gpssim code 
The gpssim code was named gps_sim vs being consistent with other
simulators (gpssim). It also used warnx and errx and had lots of
commeted out code.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2015-06-18 09:02:30 +02:00
Mark Charlebois 17b23f4e80 SITL: Added documentation on file paths 
Added description of how to create required directories

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2015-06-16 09:58:48 -07:00
Mark Charlebois 834e3c0587 SITL: updated README and rc.S 
Changed rc.S to rcS.

Updated README.md to explain the require directory structure and
where to run mainapp from for SITL to work correctly.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2015-06-15 15:48:12 -07:00
Mark Charlebois 8ddfcb7f4b SITL: fixed path to mainapp in documentation 
The updated path os Build/posix_sitl.build/

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2015-06-15 13:50:50 -07:00
tumbili e6cee32952 add simulated gps driver to startup for SITL 2015-06-15 21:59:58 +02:00
Lorenz Meier dc839b67e8 Fix POSIX README.md path 2015-06-15 21:36:42 +02:00
Lorenz Meier 48bf40d5d1 POSIX: Add initial SITL instructions 2015-06-15 21:35:10 +02:00
Mark Charlebois 729653ba71 SITL: changed posix_default to posix_sitl 
The SITL build is now the default posix build.

The linker script for posix was moved to makefiles/posix.
The rc.S file was moved to posix-configs/SITL/init/
The POSIXTEST board definition is now SITL

To run the SITL test run:

make sitlrun

This replaces the make posixrun target.

The build directory is now Build/posix_sitl.build/

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2015-06-15 09:51:07 -07:00