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Commit Graph
155 Commits
Author SHA1 Message Date
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
Daniel Agar 18bac6aff5 ROMFS: posix rcS set EXTRA_MIXER_MODE 2021-01-21 11:26:23 -05:00
Daniel Agar 311a2bd3e8 update ctrlalloc airframe location 2021-01-18 11:25:37 -05:00
Julien LecoeurSilvan FuhrerRoman Bapst
 		343cf5603e initial control allocation support 
- control allocation module with multirotor, VTOL standard, and tiltrotor support
 - angular_velocity_controller
 - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details

Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Roman Bapst <bapstroman@gmail.com>
 2021-01-18 11:25:37 -05:00
Silvan Fuhrer 195a900ecf change default of RTL_LAND_DELAY to 0 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-17 12:05:30 +01:00
Can Berk Durmus ba9611621d Retune Typhoon H480 PID 2021-01-16 09:32:09 +01:00
RomanBapst 96dfa7fc71 ROMFS: set cruise throttle correctly for all gazebo vtol configs 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-14 09:58:37 +03:00
Silvan Fuhrer 0633c3956f ROMFS: improve tuning of tailsitter VTOL SITL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-14 09:58:37 +03:00
Silvan Fuhrer 6104fe8932 ROMFS: improve tuning of tiltrotor VTOL SITL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-14 09:58:37 +03:00
Silvan Fuhrer 2ce310925c ROMFS: improve tuning of standard VTOL SITL 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2021-01-14 09:58:37 +03:00
RomanBapst 47364ce8d6 updated tuning for gazebo plane airframe config 
Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2021-01-13 21:21:07 +03:00
Silvan Fuhrer a88b7fc517 ROMFS: Tiltrotor SITL: improve tuning and remove unnecessary params from config 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-12-20 21:25:50 -05:00
Daniel Agar f7452bff4d ROMFS: startup remove bootlog.txt 2020-11-16 09:19:35 -05:00
Daniel Agar 9767a73619 ROMFS: silently compare optional parameters 
- not all build configurations have these parameters/modules
 2020-11-11 08:03:48 +01:00
Daniel Agar bde5cadba7 ROMFS: replay automatically create replay_params.txt 2020-11-04 11:47:01 -05:00
Silvan FuhrerandJaeyoung-Lim d4d02f449f Improve tailsitter tuning master (#16078) 
* tailsitter SITL: improve hover tuning

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>

* Add SITL testing for tailsitter VTOLs

This enables SITL testing for Tailsitter vehicles

Co-authored-by: Jaeyoung-Lim <jaeyoung@auterion.com>
 2020-11-02 23:41:12 +01:00
Daniel Agar 2c874f1cd9 ekf2 selector fix SITL lockstep 
- ekf2 selector don't register lockstep until first attitude publication
 - sensors module register lockstep component
 - enable multi-EKF2 in SITL
 2020-10-28 09:42:41 -04:00
Thies Lennart Alff 82988b1912 airframes: added BlueROV2 (heavy configuration) airframe (#16004) 2020-10-28 11:07:31 +01:00
SalimTerryLi 05f1efd1a4 load_mon: get mem_usage by reading /proc/meminfo on Linux 2020-10-27 18:49:25 -04:00
Daniel AgarandPaul Riseborough 0f411d6820 Multi-EKF support (ekf2) 
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
    - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
 - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
 - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
 - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
 - ekf2 single instance mode is still fully supported and the default

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2020-10-27 10:56:11 -04:00
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
David Sidrane b9319b3843 ROMFS:Use . for (source) and ${R} for pathing 
init.d-posix:rcS Quiet Shell check warning
 2020-10-15 17:11:08 -04:00
Daniel Agar da37f63bbd ROMFS: posix adjust standard vtol (1040) tuning 2020-10-10 20:03:50 -04:00
Daniel Agar 28efc95e29 ROMFS: posix rcS remove airframe specific defaults being applied everywhere 
- these need to be set per airframe
 2020-10-10 12:49:09 -04:00
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
Daniel Agar 378cb155d6 simulator: support accel/gyro instances and stuck failure 
- expand simulator to 3 accels and gyros
 - PX4Accelerometer/PX4Gyroscope switch to old param usage due to copy constructor issues with ModuleParams
 2020-10-07 13:20:13 -04:00
bazooka joe 727b0cf530 moved posix airframe files to folder, same as in regullar init.d folder 
and add some debugging info when succeeded/fail to find air-frame file
 2020-09-19 21:31:39 -04:00
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
Beat Küng 809d05053b posix: add support for ROMFSROOT 
- add missing ROMFS files to CMakeLists.txt
- rename genromfs to etc, so that it's clearer for SITL use
 2020-09-15 09:30:16 +02:00
Matthias Grob c6e2722b8f param: remove reset_nostart 
Since we have reset_excludes and SYS_AUTOSTART and SYS_AUTOCONFIG
can be excluded like every other parameter.
 2020-09-08 12:03:41 +02:00
Daniel Agar 5017a7e33a simulator: publish 2 instances of accel/baro/gyro/mag 2020-09-02 10:42:02 -04:00
Matthias Grob 0db4881413 BatterySimulator: remove SimulatorBattery 
It loads the battery parameters but then overwrites them
with hardcoded values and it breaks the ModuleParams
parent/child hierarchy. Both is undesired.
 2020-09-01 10:25:03 +02:00
Daniel Agar 27f23ac290 move initial sensor priority to parameters and purge ORB_PRIORITY 
- CAL_ACCx_EN -> CAL_ACCx_PRIO
 - CAL_GYROx_EN -> CAL_GYROx_PRIO
 - CAL_MAGx_EN -> CAL_MAGx_PRIO
 2020-08-21 10:12:13 -04:00
Daniel Leonard RobinsonAnton ErasmusBeat Küng
 		fa4818e467 vehicles: add new vehicle type: Airship (#14862) 
Co-authored-by: Anton Erasmus <anton@flycloudline.com>
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
 2020-08-10 08:52:51 +02:00
SungTae Moon 9707ac5316 implement gazebo simulation based on RTPS for multiple UAVs (#15463) 
- add t option for target
   - add iris_rtps model (PX4/sitl_gazebo#558)
 2020-08-08 13:19:19 +02:00
xdwgood f014d0de8e Correctly set the FW_ARSP_MODE parameter value 2020-07-22 10:43:46 -04:00
Matthias Grob ced91f135b posix rcS: remove various SITL custom settings 
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.
 2020-07-14 09:58:46 -04:00
Benjamin Perseghetti 3302a6965d Add EOL for 1062 2020-06-25 12:59:10 -04:00
Benjamin Perseghetti eee82635be added EOL to mixer, changed tf-r1 to 1062 and to use properly named sitl mixer 2020-06-25 12:59:10 -04:00
Benjamin Perseghetti 165fdaa6c8 removed 1061 name collision, made rover mixing explicit to sitl 2020-06-25 12:59:10 -04:00
Daniel Agar 55808ed2f9 simulator: break out standalone battery simulator module 
- this is a small step towards unifying SITL & HITL
 2020-06-24 10:39:21 -04:00
Beat Küng 157ef43e28 replay: use lockstep scheduler 2020-06-23 11:53:55 -04:00
Beat Küng 71dcf8d619 sitl: use lockstep components API 
- 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).
 2020-06-23 11:53:55 -04:00
Daniel Agar b6292a1a2d posix rcS fix shellcheck SC2236 2020-06-20 20:42:09 -04:00
Daniel Agar 6dad4a3359 SITL VTOL tiltrotor disable airspeed 2020-06-18 22:25:35 -04:00
TSC21 28c4446eae init.d-posix: if750a: add GPS blending 2020-06-16 09:57:05 +01:00
TSC21 6add0fff7f add iris_dual_gps config and the possibility of testing GPS blending through simulation 2020-06-16 09:57:05 +01:00
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
Beat Küng 867453eada posix rcS: always set IMU_INTEG_RATE 
If this is wrong, the startup just hangs.
 2020-06-04 20:58:40 -04:00