f61d96dd5c
SITL: SIM_Frame: add number of motors to json spec
3 years ago
6a8fff67f7
SITL: SIM_Frame: remove motor evaluation debug code
3 years ago
6eea4d12ee
SITL: apply momentum drag per-motor
3 years ago
f9050c3040
SITL: Frame: take drag from thrust not accel
3 years ago
92135400f8
SITL: Frame: stop adding random physics noise
3 years ago
f869506b0a
SITL: Motor: acount for airflow due to vehicle rotation
3 years ago
bead0ac0f8
SITL: JSON allow to set motor rotation direciton
3 years ago
f0c17f0e49
SITL: use AP_SIM_ENABLED define more
3 years ago
a7abfeeb4a
SITL: allow cutom motor postions and thrust vectors to be specified
3 years ago
47f327b500
SITL: allow Vector3f inertia to be set via JSON
3 years ago
6272dc33dd
SITL: move moments inertia to frame property
3 years ago
7936f3bb0a
SITL: move motor related constants to motor object
3 years ago
375ab84e56
SITL: correct suggestion to user re wind estimatation param value
...
EK3_MCOEF becomes EK3_DRAG_MCOEF
EK3_BCOEF_ becomes EK3_DRAG_BCOEF_
3 years ago
3cf7091525
SITL: make parsing of json files dependent on PICOJSON
...
picojson uses the standard library; this will be a problem on embedded
platforms
3 years ago
9ef959b93b
SITL: make C_TO_KELVIN a function macro; create KELVIN_TO_C
...
These are in celsius
3 years ago
ba58558bd1
SITL: fixed default BATT_CAPACITY for SITL
...
don't override from JSON model unless we have a value
3 years ago
6628fd2837
SITL: swap rotation direciton of motor 2 for lower yaw offset
4 years ago
d38e704115
SITL: fix memory over-read detected by Valgrind
...
==15803== Conditional jump or move depends on uninitialised value(s)
==15803== at 0x4C34975: index (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==15803== by 0x444D8D: SITL::Frame::load_frame_params(char const*) (SIM_Frame.cpp:363)
==15803== by 0x445415: SITL::Frame::init(char const*, SITL::Battery*) (SIM_Frame.cpp:432)
==15803== by 0x3696ED: SITL::MultiCopter::MultiCopter(char const*) (SIM_Multicopter.cpp:35)
==15803== by 0x34B49C: SITL::MultiCopter::create(char const*) (SIM_Multicopter.h:44)
==15803== by 0x34C58E: HALSITL::SITL_State::_parse_command_line(int, char* const*) (SITL_cmdline.cpp:480)
==15803== by 0x344005: HALSITL::SITL_State::init(int, char* const*) (SITL_State.cpp:923)
==15803== by 0x33D854: HAL_SITL::run(int, char* const*, AP_HAL::HAL::Callbacks*) const (HAL_SITL_Class.cpp:182)
==15803== by 0x15ACDD: main (Copter.cpp:678)
==15803==
4 years ago
0661a27400
SITL: ensure st.size is valid when loading model json
...
Before this patch st.size is undefined when we use it to create a buffer
on the stack - probably not a good thing.
4 years ago
b258cb0539
SITL: Add momentum drag to Z axis to work around thrust model deficiencies
4 years ago
a907c10733
SITL: Add momentum drag to multicopter model
4 years ago
13c7980f0b
SITL: Support for decacopters
4 years ago
d8337cf9e5
SITL: allow loading of model from ROMFS
4 years ago
e07cecb264
SITL: added support for simulated battery discharge
4 years ago
a0bc9d3148
SITL: fixed quadplane mass and rpm indexing
4 years ago
767773da5e
SITL: improved multicopter simulation
...
this takes account of motor expo, velocity of air over propellers,
mass, size and other factors
It also allows for frame parameters to be supplied as an external json file
4 years ago
7c2d13c571
SITL: added simulation of pressure altitude for multicopter
...
this gives us a ceiling of 5.4km above sea level for the default
copter
5 years ago
08f27f7668
SITL: Added cwx motor setup for hexa, octa and octaquad
5 years ago
dc662a56b2
SITL: Added DJI Hexa and Octa for SITL
5 years ago
dc80df23e9
SITL: added betaflight-rev-x frame
5 years ago
c807267bab
SITL: add rpm-based motor noise per-motor to gyros and accels
...
convert multicopter thrust to rpm per motor
5 years ago
40babb1172
SITL: support 3 more X quad motor orders
...
- betaflight X
- DJI X
- clockwise X
6 years ago
358c570d9d
SITL: added simulated battery for quadplane
...
needed for motor interference for mag
6 years ago
37f7cc4bcf
SITL: rearrange Grippers and Sprayers in SITL
7 years ago
93b3970141
SITL: Add tilthvec frame
8 years ago
c21b586ccc
SITL: add dodeca-hexa support
8 years ago
1e69508322
SITL: added a vectored tilt tricopter quadplane
8 years ago
0171b64feb
SITL: setup simulator to match firefly6 AvA servo outputs
8 years ago
c808ee2f49
Global: To nullptr from NULL.
...
RC_Channel: To nullptr from NULL.
AC_Fence: To nullptr from NULL.
AC_Avoidance: To nullptr from NULL.
AC_PrecLand: To nullptr from NULL.
DataFlash: To nullptr from NULL.
SITL: To nullptr from NULL.
GCS_MAVLink: To nullptr from NULL.
DataFlash: To nullptr from NULL.
AP_Compass: To nullptr from NULL.
Global: To nullptr from NULL.
Global: To nullptr from NULL.
8 years ago
1997a4e044
SITL: include mass of sprayer payload in vehicle mass
8 years ago
152edf7189
Global: remove mode line from headers
...
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
8 years ago
f387f248d3
SITL: added support for servo slew rates and retract servos
...
this is for tiltrotors with retract servos
9 years ago
88b910c13d
SITL: changed firefly motors to be suitable for a pixhawk
...
get channel groupings right
9 years ago
3e1cad5df2
SITL: adjust tricopter so default yaw servo values will work
9 years ago
bd8cd71745
SITL: fixed fwd motor angles for tri and y6 frames
...
should be 60 degrees to have motors evenly spaced around frame for
equal lift per motor when level
9 years ago
125a9feb3d
SITL: added tilttri frame type
...
tiltrotor tricopter
9 years ago
9e01d7de6c
SITL: added support for "quad-fast" frame
...
much more powerful copter for testing nav at high speed
9 years ago
180a7905e5
SITL: make Z down in motors
9 years ago
8880635fe1
SITL: support vtail and elevon planes in builtin plane sim
...
remove old tiltrotor in favor of new tiltrotor code
9 years ago
71ca534ec6
SITL: added Y6 frame
9 years ago
Iampete1
Randy Mackay
Peter Barker
Andrew Tridgell
Paul Riseborough
murata
Rishabh
Andy Piper
Pierre Kancir
mirkix
Mathieu OTHACEHE