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494 Commits

Author SHA1 Message Date
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
Nicolas de Palezieux 00352565ee added I2C driver for TeraRanger One 2016-04-06 10:35:38 +02:00
Roman f3e147f57b make replay faster 2016-04-05 21:24:11 +02:00
tumbili ff338d8920 set mavlink data rate for snapdragon 2016-03-30 18:05:48 +02:00
Julian Oes 3ae0ef6eb6 mainapp.config: add sdlog2 to Snapdragon startup 2016-03-29 09:54:19 +02:00
Julian Oes 8bf41fda94 px4.config: go back to J13 which is /dev/tty-2 2016-03-27 12:40:10 +02:00
Julian Oes a318c4a4cd px4.config: use the ESC J13 UART on Snapdragon 2016-03-27 12:40:10 +02:00
tumbili 07246efef9 added snapdragon rc pwm driver 2016-03-27 12:40:10 +02:00
Julian Oes 4effcc0ac7 cmake/posix-configs: switch to ekf2 on Snapdragon 2016-03-27 12:40:10 +02:00
Julian Oes f006840f2a px4.config: remove rc_receiver 
This was in there by accident.
 2016-03-22 22:18:49 +01:00
Julian Oes 4e1c6073ae px4.config: add SYS_AUTOSTART param for now 2016-03-22 21:28:15 +01:00
Julian Oes f06a27a53c posix-configs: unite mainapp-calib/mainapp-flight 
There is no calibration config needed anymore.
 2016-03-22 21:25:26 +01:00
Julian Oes e1aca91467 posix-configs: unite px4-calib and px4-flight 
The calibration config is no longer needed.
 2016-03-22 21:22:47 +01:00
Julian Oes d629f0912c px4-flight.config: add land_detector 2016-03-22 21:20:55 +01:00
Julian Oes bc85380439 px4-flight.config: fix rc_receiver command 2016-03-22 21:19:18 +01:00
Nicolas 6ac641956a added posix and qurt apps to enable remote execution of shell commands on qurt side from posix shell 
commands are sent via muOrb to qurt, where they are executed and printed (i.e. visibile on mini-dm)
 2016-03-18 17:23:51 +01:00
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
tumbili 3867e7709d added uart_esc app to dsp startup script, this will output 
serial data on the snapdragon ESC connector (J13)
 2016-03-10 16:31:51 +01:00
Julian Oes f2b906d7af posix-configs: start mavlink on mainapp 2016-03-09 09:53:27 -08:00
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
Julian Oes e4d71ec682 configs: compile and start the gps driver on QURT 2016-03-06 18:02:50 +01:00
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
jwilson d84639f8c4 This code is flyable, but a few problems exist which cause values in the .config files to be overwritten by the defaults in the .XML file. 2016-02-19 16:59:49 +01:00
Julian Oes 1524ff7f80 HMC5883: added wrapper for DriverFramework 2016-02-19 16:59:47 +01:00
Julian Oes f7697eec66 BMP280: added the baro driver 2016-02-19 16:59:47 +01:00
Julian Oes 67597a604e Rename DfImu to DfMpu9250Wrapper 2016-02-19 16:59:47 +01:00
Julian Oes 7ed6506406 posix-configs: current configs which run on qurt 2016-02-19 16:59:46 +01:00
Mark Charlebois 9f3bf8e9f4 Rebase changes on upstream master 
This brings in many of the changes from the PX4 fork on ATLFLight.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2016-02-19 16:59:41 +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
Mohammed Kabir 37ffb61afd changes to rpi2 configs 2016-01-18 22:42:35 +01:00
Mohammed Kabir 4351eb147c Add native RPi2 build config 2016-01-18 22:42:29 +01:00
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
Lorenz Meier 40f3b49419 POSIX: Re-load params after boot 2015-06-14 03:17:33 -07:00
Lorenz Meier 7254f04f68 POSIX: Complete default startup config so we get a working quad setup on boot. 2015-06-13 17:08:07 -07:00
Lorenz Meier a1b68b5b41 POSIX: Start MAVLink app as default on UDP 2015-06-13 06:53:18 -07:00
Mark Charlebois 527b97e8b4 POSIX: added tone_alarm simulator 
The tone_alarm simulator was added to rc.S and the warning output for a
hrt_timer with a 0 expiry times was disabled.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2015-06-11 19:00:49 -07:00
Mark Charlebois 83bcb95999 POSIX: Added sleep command 
The baro was not fully initialized when the sensors module tried to
open it. Added a sleep command and a sleep 2 to rc.S so the baro
is initialized by the time the sensors module tried to read it.

Fixed other noisy errors

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2015-06-11 17:28:46 -07:00
Mark Charlebois 93a3eeb569 Simulator: Added Roman's sensors combined topic 
Simulator can work as before with -s flag or with Roman's additions to
publish the sensors combined topic using -p flag.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2015-04-29 23:45:54 -07:00
Mark Charlebois 58a33dd26a Added simulated tone_alarm and enabled led for POSIX 
Added simulated tone_alarm class and enabled led class for posix build.

The simulator implements the led_init, led_on, led_off, led_toggle calls.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2015-04-27 14:00:06 -07:00
Mark Charlebois d913ec8dc9 Changed device::px4_device_handle_t to device::file_t 
This change allowed the _posix.cpp file changes to be merged
back into the original files.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2015-04-24 17:49:35 -07:00
Mark Charlebois 93dea668dc Posix: make simulated devices always pass self tests 
To facilitate testing, the simulated devices always return OK for
self tests.

rc.S was also upated to set CAL_XXXY_ID to the devid so tests pass the
calibration check.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2015-04-21 23:29:07 -07:00
Mark Charlebois 19162ba5be Posix: Changed PreflightCheck to read Vdev 
PreflightCheck was failing because it was trying to read actual
devices instad of virtual devices.

ADCSIM had a LINUXTEST ifdef that was removed.

posix_run.sh was using the wrong path

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2015-04-21 17:14:52 -07:00
Mark Charlebois f3b5076d70 Linux to posix conversion 
Changed "linux" target to "posix". Most of the changes are shared with
QuRT and with OSX. The Linux specific parts are in for i2c which uses
<linux/i2c.h> and <linux/i2c-dev.h>.

There is also a check for __PX4_LINUX in mavlink for a tty ioctl that is
not supported.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
 2015-04-21 09:53:09 -07:00