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Author SHA1 Message Date
JaeyoungLim f82c722653 Publish correct orbit status with goto (#19102) 
For fixedwings, the orbit status was publishing zero radius when a goto waypoint was being passed.

This commit corrects this by passing the default loiter radius as the guidance logic was using
 2022-02-03 10:16:39 +01:00
JaeyoungLim 0607982b23 Publish orbit status also when the waypoint is a loiter waypoint (#19048) 
* Publish orbit status also when the waypoint is a loiter waypoint

* Remove redundant orbit status publishing
 2022-01-21 09:13:03 +01:00
JaeyoungLim 031f7f831b Fixedwing Pos Control: Handle vehicle transition waypoints outside controllers (#18503) 
* Handle VTOL transition waypoints outside FW auto control modes
 2021-11-08 11:21:08 +01:00
JaeyoungLim cda7c6ceaa Enable offboard actuator setpoints 2021-11-07 15:38:42 -05:00
JaeyoungLim 58060b23d9 Add ignition gazebo support for PX4 Software-In-The-Loop simulations 
This commit adds SITL support for ignition gazebo. Ignition gazebo is a replacement for the "classic" gazebo for future applications.

The simulation can be run as the following
```
make px4_sitl ignition
```
 2021-07-19 19:59:41 -04:00
JaeyoungLim b2f0c149ec Set cruise trottle to non-zero (#16724) 2021-02-03 04:39:30 +00:00
Jaeyoung-Lim cc29754163 Update jsbsim bridge submodule 2021-01-29 09:41:32 +01:00
Jaeyoung-Lim fa5a6cf712 Add option for custom mavlink configuration 
This commit enables a option for users to add a custom mavlink configuration through rc.mavlink_override
 2021-01-22 17:03:09 +01:00
Jaeyoung-Lim 653fef56de Update sitl_gazebo 2021-01-17 11:18:11 +01:00
Jaeyoung-Lim af1b4c473e Start user camera plugin 
This commit starts the gazebo_user_camera_plugin together with the gzclient, so that it is always following the vehicle
 2021-01-17 11:18:11 +01:00
Jaeyoung-Lim b3257c0bf2 Support relative altitude for offboard global position setpoints 
Previously the coordinate_frame flag for setpoint_target_global_int message was not handled, resulting in the vehicle to not handle altitude correctly. This commit handles the relative altitude correctly.
 2021-01-10 17:54:53 +01:00
Jaeyoung-Lim d42e57a066 Update sitl_gazebo to latest 
This PR updates sitl_gazebo to latest
 2021-01-08 21:33:22 -05:00
Jaeyoung-Lim d2b0f63e1f Handle offboard mode with acceleration setpoints 
The case when acceleration setpoints were being passed in offboard mode was triggering control_climbrate_mode. This prevented the vehicle from taking off, since it made the vehicle skip the rampup phase of the takeoff
This commit fixes this by handling the case properly
 2021-01-06 20:38:18 +01:00
Jaeyoung-Lim 4f30037980 Add yosemite world as SITL target for gazebo 
This commit adds yosemite world as a SITL target for gazebo
 2020-12-27 12:53:25 -05:00
JaeyoungLim 39c585ac97 Enable SITL tests for macos (#16329) 
This commit enables SITL testing on macOS
 2020-12-18 20:31:51 +09:00
jaeyoung c8d18c2719 Fix tiltrotor model for sitl_gazebo 2020-12-18 12:27:07 +01:00
JaeyoungLim e8cefcafbc Fix gazebo_sitl_multiple_run.sh scripting (#16340) 
This commit fixes the problem when using scripting options. This regression was introduced by #15463
 2020-12-07 06:17:15 +01:00
JaeyoungLim e6992db1ca Use enums for set attitude setpoint typemasks for offboard mode (#16327) 
This commit switches the typemask comaparision to enums for better readability
 2020-12-04 17:44:33 +01:00
JaeyoungLim bd943d872c Use explicit typemasks for offboard position setpoints (#16296) 
This uses enums of the POSITION_TARGET_TYPEMASK in order to separate typemasks that are part of the mavlink specs more explicitly
 2020-11-30 22:12:06 +01:00
Jaeyoung-Lim d59ba2032f Handle takeoff waypoints for rover 
Fix
 2020-11-29 00:08:53 +01:00
JaeyoungLim c5486ca47e sitl: fix sitl_run to run on macOS (#16287) 
This commit removes the readarray command from the Tools/sitl_run.sh.
This fixes the issue where SITL was not able to run due to readarray not being available on macOS
 2020-11-27 10:49:22 +01:00
jaeyoung fb3b1f8bd9 Update sitl_gazebo submodule 2020-11-19 10:03:59 -05:00
jaeyoung 68855b5c9b Update mavlink 2020-11-19 10:03:59 -05:00
JaeyoungLim 5e693180d9 Fix bash error when running SITL Gazebo (#16221) 2020-11-18 04:23:19 +01:00
Jaeyoung-Lim 40bf460717 Update jsbsim bridge to latest 
This commit updates the jsbsim bridge to the latest
 2020-11-13 12:45:21 -05:00
JaeyoungLim 9e5cf3a598 Enable multiple rover simulations (#15904) 
This commit allows running multiple simulations with rovers
 2020-11-03 14:55:32 +01:00
JaeyoungLim 46d79d3050 Remove exception of actuator scaling for airships (#16011) 
This removes the exception handling of airship type vehicles when scaling actuators for the simulator
 2020-10-22 10:37:03 +02:00
Jaeyoung-Lim 3c20580533 Add support for malolo flying wing in JSBSim SITL 
This commit adds SITL target for malolo flying wing and updates the jsbsim_bridge submodule to include the necessary changes.
 2020-10-16 13:31:09 +02:00
JaeyoungLim 34ced0c26c Cleanup jsbsim run scripts (#15959) 
* Cleanup startup scripts

This commit cleansup the run script for the jsbsim_bridge

* Update jsbsim_bridge submodule
 2020-10-14 16:41:11 +02:00
JaeyoungLim 85e8c4801b Add techpod SITL Gazebo target (#15919) 
* 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
 2020-10-09 16:20:01 +02:00
jaeyoung 908444bd68 Add boat default rc to ROMFS 
This adds the missing rc.boat_defautls to ROMFS
 2020-10-09 08:11:59 +02:00
JaeyoungLim e0dc9900aa Fix mavros tests by updating sdf version of the iris model 
This commit switches the sdf version of the iris model from 1.7 to 1.6 so that it can be run on ROS melodic, which the MAVROS tests were running in
 2020-10-06 09:56:32 -04:00
jaeyoung c7072b61a3 Update jsbsim bridge to latest master 
Update jsbsim bridge to latest master
 2020-10-05 20:20:04 -04:00
jaeyoung b7c1f6a857 Update sitl_gazebo to latest master 
Update sitl_gazebo to latest master
 2020-10-05 20:18:59 -04:00
JaeyoungLim ff6b82cb6b Replace xacro macros to jinja templates for multivehicle (#15831) 
This commit switches xacro macros to jinja templates for multivehicle simulations.
 2020-09-29 15:45:57 +02:00
JaeyoungLim 9d3e159e65 Make mavsdk test runner handle generated sdf files (#15797) 
Update sitl_gazebo
Fix indent errors
Fix syntax error
Fix indentation errors
Fix syntax errors
use autopep8
 2020-09-29 15:44:58 +02:00
JaeyoungLim c342ab91b3 Fix the world path being corrupting when spawning none-default world 
This fixes a bug, where the world file path was being corrupted when using non-default world paths
 2020-09-28 13:07:29 -04:00
JaeyoungLim f7356d0286 Update jsbsim_bridge to latest master 2020-09-28 13:05:20 -04:00
jaeyoung 1dbd7df83b Switch VERBOSE to VERBOSE_SIM 
This changes the environment variable `VERBOSE` to `VERBOSE_SIM`, to explicitly state that it configures the verbose output of the simulation
 2020-09-25 10:42:35 +02:00
jaeyoung 24adf36097 Add jsbsim multirotor targets to cmake 2020-09-18 10:25:52 +02:00
JaeyoungLimandBeat Küng 458420f9cb Add jsbsim bridge to enable jsbsim for px4 SITL on jsbsim (#15748) 
* 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>
 2020-09-17 20:32:42 +02:00
JaeyoungLim 0592f6ba6e Support gliding setpoints for autonomous soaring (#14643) 
* Enable offboard gliding position setpoints

Adds a capability to make the vehicle glide when given position setpoints.

Gliding setpoints are enabled by setting POSITION_TARGET_TYPEMASK_Z_IGNORE, POSITION_TARGET_TYPEMASK_VZ_IGNORE,  POSITION_TARGET_TYPEMASK_AZ_IGNORE on the typemask of position setpoints.
Include zero cruising throttle
Invalid setpoints with nan

* Handle nans for curise_throttle
 2020-09-14 10:56:29 +02:00
Jaeyoung-Lim 0d4d21cd67 Allow gzserver verbose options through command line 
Allows verbose option for gzserver with VERBOS=1 on command line.
 2020-09-12 20:19:21 +02:00
JaeyoungLim 5c040582db Update sitl_gazebo 2020-08-21 21:49:42 +02:00
JaeyoungLim cbbde2e4a2 Update sitl_gazebo (#15586) 2020-08-20 15:45:16 +02:00
JaeyoungLim 692cb717b7 Add windy world target (#14737) 2020-07-02 15:49:09 +02:00
JaeyoungLim 3ef852c8e3 sitl: enable spawning different vehicle types for multivehicle SITL in gazebo (#15147) 
This can be run with the command `Toos/gazebo_multiple_sitl_run.sh -s plane:3,iris:1
 2020-06-24 08:23:16 +02:00
JaeyoungLim 39b803a9dc Remove gps noise multiplier parameter (#15108) 
This removes the gps noise multiplier parameter that can be set on the firmware side
 2020-06-15 22:32:32 +02:00
JaeyoungLim 58ca389634 Fix tiltrotor range to use normalized actuator inputs in SITL (#14751) 
This adds fixes to use the normalized actuator setpoints for simulating tiltrotor in sitl
 2020-06-15 08:51:26 +02:00
JaeyoungLim b5e23f544e Tune down solo attitude rate controller 
This removes visible oscillations of the vehicle
 2020-05-23 11:46:16 -04:00
JaeyoungLim e670d5f1e2 Fix interactive shell with roslaunch (#14919) 
Fixes the interactive shell that was not working previously when starting px4 sitl with roslaunch
 2020-05-17 23:39:02 +02:00
JaeyoungLim b10cbd2892 Fix shibang of r1_rover airframe config 
The shibang was missing in the previous commit where this file was added
 2020-05-05 10:01:26 -04:00
JaeyoungLim cae28cd59a Add aion robotics r1 rover sitl target (#14652) 
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
 2020-05-05 11:07:02 +02:00
JaeyoungLim 4282832222 Update flightgear bridge (#14816) 
Fix vehicle spawning issue with updating the submodule paths
 2020-05-03 17:09:22 +02:00
JaeyoungLim 35ebbd7202 Switch flightgear bridge submodule to px4 organization (#14789) 
This brings the flightgear bridge submodule under the px4 organization
 2020-04-29 23:20:25 +02:00
JaeyoungLim e669e999e2 Add options to spawn multiple vehicles in different worlds (#14764) 
Since SITL gazebo now has the ability to spawn vehicles to different worlds, this can be done for simulating multiple vehicles
 2020-04-27 11:57:47 +02:00
JaeyoungLim 75054f11df Add px4vision sitl target 
- Use px4vision parameters
 2020-04-20 18:08:41 -04:00
JaeyoungLim 7a1464d992 Revert port change (#14177) 
Reverts #14126 and #14176 until CI failures can be resolved
 2020-02-18 14:56:04 +01:00
JaeyoungLim 6dc3cbbd95 SITL add catapult plane target for new gazebo model (plane_catapult) 2020-02-02 11:59:17 -05:00
Jaeyoung-Lim 1951e416b1 Enable rover attitude setpoint 2019-11-03 09:54:22 -05:00
Jaeyoung-Lim dcfe226638 Add onboard computer status rtps message 2019-10-27 11:47:10 +00:00
Jaeyoung-Lim 1b7d04d835 Add units on message comments 2019-10-27 11:47:10 +00:00
Jaeyoung-Lim 2ab692b8dc Document types 2019-10-27 11:47:10 +00:00
Jaeyoung-Lim 29987a4f80 Address comments 2019-10-27 11:47:10 +00:00
Jaeyoung-Lim 3dc3679f9e Copy fields 2019-10-27 11:47:10 +00:00
Jaeyoung-Lim 58d646e33d Log CPU loads 2019-10-27 11:47:10 +00:00
Jaeyoung-Lim 677c0b4713 Add uorb topic 2019-10-27 11:47:10 +00:00
Jaeyoung-Lim a3bd9ead4c Add message handlers for onboard computer status 2019-10-27 11:47:10 +00:00
Jaeyoung-Lim f7871ec9de Retune h480 2019-10-23 16:55:30 +01:00