2c31671cc2
FW SITL enable FW EKF2 default parameters
7 years ago
7830d3503e
posix sitl standard_vtol lower MPC_THR_MIN
7 years ago
df3a3daa0f
start wind estimator for relevant platforms
...
Signed-off-by: Roman <bapstroman@gmail.com>
7 years ago
2c0436c37c
sitl tiltrotor config: front transition throttle parameter name change
...
Signed-off-by: Roman <bapstroman@gmail.com>
7 years ago
8f71633516
sitl configs: updated VT_TRANS_THR parameter name change
...
Signed-off-by: Roman <bapstroman@gmail.com>
7 years ago
38f5f60a1e
pwm_out_sim cleanup
...
- move to ModuleBase
- strip down to PWM 8 and 16 modes only
- remove all dead code
- implement missing pwm ioctls (current value, rates, etc)
- default rate 50Hz -> 400Hz
7 years ago
159834ce1b
posix-configs: set tiltrotor transition parameters
...
Signed-off-by: Roman <bapstroman@gmail.com>
7 years ago
2886fe8da3
posix-configs: added sitl startup script for gazebo quad tiltrotor model
...
Signed-off-by: Roman <bapstroman@gmail.com>
7 years ago
8ec1fb9999
ROMFS: added mixer for tailsitter simulation
...
- simulated tailsitter needs a virtual elevator since we cannot simulate
elevons yet (liftDrag plugin does not model longitudinal moment Cm)
Signed-off-by: Roman <bapstroman@gmail.com>
7 years ago
cf79be1559
sitl ekf2 config: add vision position estimate
7 years ago
a329fd4c76
SITL configs: set SDLOG_DIRS_MAX to 7
...
Avoids ending up with huge log directories.
plus some param alphabetic reordering
7 years ago
0e65753568
Iris: set mixer to quad_wide
...
The geometry was previously quad_deadcat in which front motors are closer to CG and thus more loaded in hover.
quad_wide is the same geometry as quad_deadcat except the CG is centered so all motors are loaded equally.
Flight logs on IRIS with deadcat mixer showed that
- all motors are equally loaded during hover (actuator_outputs 0 to 3 have similar values)
- a negative pitch offset is building up soon after takeoff (visible in actuator_controls)
7 years ago
1d59d89282
posix-config iris_replay: log until SITL exits
...
If a log with multiple (dis)arming events was replayed, multiple logs were
created. This changes the replay to only create a single log.
7 years ago
f600cfbb9f
Add support for testing precision landing in SITL simulation
7 years ago
07ae1e4044
posix-configs: attitude quaternion for DroneCore
...
DroneCore uses the attitude quaternion, and not the attitude
Euler angles.
8 years ago
2837870733
posix-configs: send gimbal attitude to mavros port
...
The gimbal attitude is required by DroneCore.
8 years ago
1e91b8cd32
posix-configs: send gimbal attitude over mavlink
8 years ago
ebd2acfc43
posix-configs: enable ftp for all mavlink instances
8 years ago
5352cffe3f
Changing Names
8 years ago
e1eceda5f2
Change start up script
...
Now the start up script starts a GPS simulator as well as the ekf in order
to estimate position and orientation
8 years ago
989b1484cc
HippoCampus AUV: Enable start without ROS wrappers
8 years ago
c81dd46b02
land detector VTOL inherit MC maybe_landed ( #7738 )
...
* maybe_landed state for VTOL inherited from MC
* set correct land detector for SITL
8 years ago
7612b94c72
Allow relaying from same system ID or with target component 0
8 years ago
8bc0a8aece
Geotagging config: Default vehicle to MAVLink 2
8 years ago
b1a987f06b
Enable camera triggering and gimbal control via MAVLink
8 years ago
a63699060d
ekf2: use ModuleBase & add module documentation
8 years ago
add78a4b04
stream distance sensor at 10Hz for SITL-EKF testing
8 years ago
7a9e31f440
delete unused MPC_XY_FF and MPC_Z_FF ( #7563 )
8 years ago
72e452ba32
Add missing Iris config
8 years ago
a6ef6c6e33
SITL Launcher: gzserver must be running when gzclient connects
8 years ago
aef522553e
unmanned ground vehicle (UGV) controllers and Traxxas Stampede configuration ( #7175 )
8 years ago
cd1e04d43c
support of multi uav simulation in SITL
8 years ago
ea2a611f0b
posix-configs replace sdlog2 with logger
8 years ago
5f135acf33
Land detector: Add mode for rovers
8 years ago
bbd1906dfb
Add Rover SITL config
8 years ago
bfb4de0e66
startup scripts/mc_pos_control: renamed parameters after refactor
8 years ago
d5137ed794
set EKF2_AID_MASK and EKF2_HGT_MODE because of iris_opt_flow
8 years ago
4b1bbaa114
posix: remove rgbledsim driver which does nothing
...
In addition this is almost a copy of the rgbled driver
8 years ago
644d237ce6
posix-configs scripts: remove unneeded 'sleep 1'
...
There is no need to wait, and it would be the wrong way of doing
startup synchronization.
8 years ago
e63ee9d8bd
fw_att wheel controller enable param (default off)
8 years ago
473192aa81
replay: some API refactoring & extensions
...
in preparation to the updated ekf2 replay
8 years ago
037280c17d
sitl: add iris_replay startup script, handle $replay_mode in sitl_run.sh
...
usage:
export replay_mode=ekf2
export replay=<abs_path_to_log.ulg>
make posix none
8 years ago
b14cb952ae
sitl plane update tuning
8 years ago
11de4d70a6
add config file for ekf2-optical flow
8 years ago
48f1ae31dd
Iris: use correct mixer for frame
8 years ago
171ccd1203
POSIX SITL configs: Update default parameters to improve simulation behaviour
...
The main changes include:
* Better attitude tuning for airframes (more realistic models, the models had previously not as much thrust as the real vehicles)
* Better waypoint and navigation default parameters which match the on-hardware parameters
* More suitable minimum and trim airspeeds for VTOL and fixed wing which prevents stalls that happened in SITL previously (the new airspeeds match the real vehicles nicely)
8 years ago
42101671f4
Drop rate gains for H480
8 years ago
07fecaa9d5
Re-tune the H480 config as we increased its simulated motor power recently.
8 years ago
d828023e47
SITL startup config: set SYS_MC_EST_GROUP
...
so that we know which estimator was used in the log file
8 years ago
be2451cfc7
SITL: use logger for standard_vtol and upload *.ulg files after integrationtests
8 years ago
Daniel Agar
Roman
ChristophTobler
Beat Küng
Julien Lecoeur
Nicolas de Palezieux
Julian Oes
NRottmann
Sander Smeets
Lorenz Meier
Marco Zorzi
Mohamed Abdelkader Zahana
Matthias Grob
Andreas Antener