* 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>
It loads the battery parameters but then overwrites them
with hardcoded values and it breaks the ModuleParams
parent/child hierarchy. Both is undesired.
because we need to have SITL simulation as realistic as possible
compared to a real flight with default settings such that we
either fix the problems or adjust the defaults already in SITL testing.
- avoids the need for ekf2_timestamp publications by q and lpe
- adds logger to the lockstep cycle and makes it poll on ekf2_timestamps
or vehicle_attitude. This avoids dropped samples (required for replay).
- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu
- sensors: voted_sensors_update now consumes vehicle_imu
- delete sensor_accel_integrated, sensor_gyro_integrated
- merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status
- sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
Before #14212 the velocity control gains used in the multicopter
position controller were defined as a scale between velocity error in
one axis (or it's integral and derivative respectively) and the unit
thrust vector. The problem with this is that the normalization of the
unit thrust vector changes per vehicle or even vehicle configuration
as 0 and 100% thrust get a different physical response. That's why
the gains are now defined as scale between velocity error
(integral/derivative) and the output acceleration in m/s².
- skip avionics rail voltage check when USB connected
- skip forced reboot on USB disconnect if circuit breaker set
- avionics voltage preflight check don't silently fail if system_power unavailble
- explicitly set supply check circuit breaker (CBRK_SUPPLY_CHK)
This adds a sitl target and aiframe configs for the r1_rover, which is a differential rover example for SITL rover. The model is based on the aion robotics r1 rover
-decrease L1 period for tighter mission tracking in fw mode
- increase backtransition duration, we can now do this is we have active
deceleration control
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Jaeyoung-Lim
David Sidrane
Daniel Agar
bazooka joe
Beat Küng
Matthias Grob
Daniel Leonard Robinson
SungTae Moon
xdwgood
Benjamin Perseghetti
TSC21
kritz
Jakub Kákona
JaeyoungLim
flbernier
RomanBapst
Anurag Sai Vempati
Lorenz Meier