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303 Commits

Author SHA1 Message Date
Lorenz Meier f511d49cc2 Improvements to SITL to make paths more flexible. (#5181) (#5255) 
* Path cleanup for SITL.

* Restructured sitl scripts dir.

* Set integration tests to use ekf2 for vtol.

* Fix sitl paths for mac.
 2016-08-25 21:47:45 +02:00
James Goppert 818840b576 Path cleanup, low impact changes (#5340) 
* Low impact changes from path_cleanup branch.

This is a step towards minimizing the diff with path_cleanup branch.

* Update ecl.

* Revert matrix update.

* Revert ecl and matrix.

* Update sitl gazebo.

* Revert sitl_gazebo and matrix changes.
 2016-08-18 15:37:23 -04:00
Daniel Agar 8b9bef3872 osx fix and enable tests 2016-08-07 14:05:03 +02:00
Lorenz Meier 102f5b54d7 Revert "Improvements to SITL to make paths more flexible. (#5181)" 
This reverts commit 699b6a2cb3.
 2016-08-05 21:29:49 +02:00
James Goppert 699b6a2cb3 Improvements to SITL to make paths more flexible. (#5181) 2016-08-05 06:23:59 -04:00
Lorenz Meier db174cf8b1 Disable EKF2 3D fusion temporarily in SITL, fix missing fast-init params for some configs 2016-08-05 10:12:44 +02:00
sander 5710a0c040 Remove default geofence from gazebo_standard_vtol 2016-07-31 22:09:44 +02:00
Lorenz Meier 6ab9dc0acf Testing cleanup from Daniel Agar 2016-07-29 13:49:14 +02:00
James Goppert 05315abc89 Optical flow simulator and install cleanup. (#5132) 
sitl CI is having some issue cloning, but I have verified it locally for various configs
 2016-07-24 13:07:14 -04:00
Beat Küng 49614cfe38 SITL init scripts: add replay tryapplyparams & replay trystart 
These will only start replay if there's an environment variable 'replay',
otherwise they do nothing.

We apply the parameters even before loading the modules, so that the
modules 'see' the same state as the recorded system had. We will have to
see how well this works in practice.
 2016-07-11 09:26:35 +02:00
Lorenz Meier 7afe2e8dd8 Iris SITL: Default gains 2016-07-08 00:02:48 +02:00
Lorenz Meier eb6af9afb9 VTOL updates 2016-07-07 23:30:57 +02:00
Lorenz Meier 38652ec940 SITL: Re-tune multicopter gains 2016-07-07 23:28:21 +02:00
Lorenz Meier 2a729028bd SITL: Set battery cells 2016-07-02 11:41:23 +02:00
Lorenz Meier e43625cfc1 ROMFS: Clear out SITL mixers from deployed image, delete unused mixers, move test mixers to test config 2016-07-01 18:08:32 +02:00
Daniel Agar 377726a9a7 sitl gazebo plane fix land detector startup order (#4932) 2016-06-30 13:56:06 +02:00
Andreas Antener c9f278e46f fix rcS for standard vtol 2016-06-28 22:44:49 +02:00
Andreas Antener 00d56b9ef8 added VTOL mission test, updated mission test to check mission depending on vehicle state 2016-06-28 22:44:49 +02:00
Lorenz Meier 33e259e827 Update controller gains to match better vehicle models 2016-06-26 22:25:55 +02:00
Andreas Antener d1b27ab056 moved params NAV_OBL to COM_OBL 2016-06-20 19:23:11 +02:00
Andreas Antener d3d9f013f4 set OBL parameters for iris 2016-06-20 19:03:10 +02:00
Andreas Antener ced8376268 added offboard lost actions with additional timeout 2016-06-20 19:03:09 +02:00
Lorenz Meier b2cfe05881 Adjust Typhoon H480 gains 2016-06-20 12:54:22 +02:00
Lorenz Meier c647b6db4d Update gains 2016-06-18 17:36:48 +02:00
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
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
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
tumbili e6cee32952 add simulated gps driver to startup for SITL 2015-06-15 21:59:58 +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