More realistic than plain constant movement. Implemented with white
noise, low pass filter & feedback term ensuring we stay close enough to
upright.
Tuning knobs maybe not very intuitive at the moment. There are:
- update rates alpha_v, alpha_w (bigger = faster movement)
- amplitudes ampl_v, ampl_w (bigger = larger movement)
- feedback gains pos_gains, attitude_gain (bigger = smaller movement)
maybe we could remove the redundance between the latter two?
Also:
- overload setPlatformVelocity for different inputs
- don't set aircraft pose at all (make sure with environment variable
that it is on platform)
- platform height = 2m defined in sdf file
- rename pose -> navsat to be more precise
- gz submodule update. heavier platform & initial pose.
in Tools/simulation/gz submodule. for now I am pointing it to the PR
branch moving_platform_world which contains the moving_platform world.
The world contains the platform so we remove the platform definition and
the code that added it dynamically.
Also the env var GZ_MOVING_PLATFORM is now gone -- world name can be set
with existing env var PX4_GZ_WORLD.
* add two x500 lidar airframe, including the gazebo bridge for the lidar sensors and their orientation
* Update src/modules/simulation/gz_bridge/GZBridge.cpp
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Update src/modules/simulation/gz_bridge/GZBridge.hpp
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* update submodule
---------
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
- fully absorb the libuavcan submodule (renamed libdronecan to deconflict) up to our last good working commit and preserve all history (upstream libuavcan was broken and then marked deprecated)
- fixes https://github.com/PX4/PX4-Autopilot/issues/23727
- this puts us in a much better position to be able to evolve the library going forward ow that we have full control in tree
When the px_uploader.py is used scripted, so without an interactive
shell, the progress bar doesn't update. Therefore, I suggest to print a
new line instead of a carriage return for the non-interactive shell
case.
* AUTOPILOT.capabilities includes gimbal manager protocol bit
Sets MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER bit in AUTOPILOT.capabilities
* mavlink: update submodule
* mavlink: only set gimbal flag if gimbal param set
We should probably only set the flag if the gimbal manager is actually
set up using the MNT_MODE_IN parameter.
* mavlink: make param optional
If the gimbal module is not built in we don't have the MNT_MODE_IN
param, so we need to deal with that.
* gazebo-classic: update submodule
---------
Co-authored-by: Julian Oes <julian@oes.ch>
- upstream libuavcan was broken and then marked deprecated, this fully absorbs the submodule (renamed libdronecan to deconflict) up to our last good working commit and all commit history is kept
- fixes https://github.com/PX4/PX4-Autopilot/issues/23727 (regression introduced in #23113)
- this puts us in a much better position to evolve the library as needed now that we have full control
