- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
- sitl_gazebo in PX4/Firmware (dfbaf6607a): c3b15b7c9b
- sitl_gazebo current upstream: 6b9c8f15c2
- Changes: c3b15b7c9b...6b9c8f15c2
6b9c8f1 2020-10-10 Daniel Agar - mavlink interface round double sim time when converting to microseconds
b4cebfc 2020-10-09 JaeyoungLim - Support HIL configurations for generated models (#625)
b4d2d58 2020-10-09 Daniel Agar - mavlink interface poll until actuator received (#631)
* Add techpod SITL target
This adds a SITL target forthe techpod fixedwing model
* Update sitl_gazebo submoudle
This submodule update includes the techpod UAV model
* Add jsbsim bridge to enable jsbsim for px4 SITL/HIL on jsbsim
This is a PX4 HIL/SITL integration into JSBSim. JSBSim is an open source flight dynamics model (http://jsbsim.sourceforge.net/)
Currently there are three models available which is the rascal, quadrotor_x, hexarotor_x integrated into the bridge.
The simulation can be run with the firmware with the following command for example
```
make px4_sitl jsbsim_rascal
```
The visualization is done flightgear and is done by the bridge sending UDP packets to flightgear. To disable the visualization `HEADLESS=1` when running the make command.
The simulation can be configured through the configuration files under the `config` directory through a xml file. Senor configurations, The xml file name should match the name of the model.
* Update Tools/sitl_run.sh
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
- fix gazebo SITL debug
- now prompts you to select vehicle
- devcontainer.json container support https://code.visualstudio.com/docs/remote/containers
- this allows you to jump straight into working within a container (px4-dev-nuttx) on a fresh machine
- also helps with Codespaces https://github.com/features/codespaces
- plugin updates
- cpp extension pack, spell checking, CTest support
- cleanup intellisense
- the backup tag parser was a resource hog and didn't work very well
- fix problemMatcher support so that you can click on a build failure
- sitl_gazebo in PX4/Firmware (ac732cdeba): 78bba3f25e
- sitl_gazebo current upstream: 9d2b19784c
- Changes: 78bba3f25e...9d2b19784c
9d2b197 2020-09-12 JaeyoungLim - Use jinja templates for standard_vtol and plane model (#590)
01587e6 2020-09-12 Lorenz Meier - Include GLib2 properly The previous approach did not actually search for glib2 in the system but hardcoded the name.
e49fac5 2020-09-12 bazooka joe - cleanups: rename class vars to be with underscore
6fb9bd9 2020-09-12 bazooka joe - move initializers to h file
29999c6 2020-09-12 JaeyoungLim - Update boat gps sensor (#595)
a208640 2020-09-09 petertheprocess - fix the rudder deflection bug. (#588)
- inconsistency checks now run continuously instead of only preflight
- keep inconsistencies for all sensors
- add per sensor data validator state as overall health flag
* [WIP] i2c_spi_buses: add '-q' for quiet startup flag
And enable for optional board sensors.
* ROMFS: rc.sensors try starting all optional I2C sensors quietly
Co-authored-by: Daniel Agar <daniel@agar.ca>
Daniel Agar
PX4 BuildBot
Lorenz Meier
Tomasz Domański
CUAVcaijie
Jaeyoung-Lim
David Sidrane
Jacob Dahl
James Goppert
Benjamin Perseghetti
SalimTerryLi
Beat Küng
Nicolas MARTIN
Kabir Mohammed