SIH: use projection functions and constants from geo lib
SIH: remove unnecessary member variable
SIH: clarify names of rotation matrices and frames
SIH: do not store DCM corresponding to quaternion attitude
Using DCM is more efficient when more than 1 rotation needs to be done,
which is not the case here.
SIH: don't store local variable as member
SIH: use Wgs84 constants everywhere
SIH: do not store delta_quaternion
Converting an AxisAngle to a Quaternion uses the exponenial
SIH: organise ECEF member variables
SIH: add earth spin rate to gyro data
Co-authored-by: bresch <brescianimathieu@gmail.com>
Without this change the configured dialect would not get included
correctly in the simulator_mavlink module, only in the main mavlink module.
Configured using e.g. CONFIG_MAVLINK_DIALECT="development"
in e.g. boards/px4/sitl/default.px4board file.
- with the addition of the navsat plugin in PR#22638, the callback would
reassign the previous timestamp used in the calculations of the
angular_velocity causing derivative type noise in the groundtruth
measurements
* publish the global groundtruth from the navsat callback and rearrange the local groundtruth as the altitude reference now has a dependency on the global groundtruth being initialized
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Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
simulation gazebo: move the gazebo models to submodule, allow for operation with external gazebo instance, independent of startup order. Allows drag an drop of models from gazebo fuel.
* rolled back updates
Signed-off-by: frederik <frederik@auterion.com>
* fixing empy
Signed-off-by: frederik <frederik@auterion.com>
* Update GZBridge.cpp to lower drop position
Dropping from 1m leads to movement in the rc_cessna. Dropping from 0.5m leads to no movement.
* Update STANDALONE env variable.
* Update STANDALONE env_variable on GZBridge
* Update src/modules/simulation/gz_bridge/GZBridge.cpp
Co-authored-by: Daniel Agar <daniel@agar.ca>
* test removal of x500
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* removed all models and reworked logic
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* remove model path in set_sdf_filename
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* filter resource path for world sdf
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* updated structure to keep old make px4_sitl
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* remove gz tools
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* import gz as submodule and reverse rc simulator logic
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
* [gz-sim]: source GZ_SIM_RESOURCE_PATH only if PX4 starts gz server
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
* Typo fix
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Signed-off-by: frederik <frederik@auterion.com>
Signed-off-by: frederik <frederik.anilmarkus@gmail.com>
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
* created a Performance Model for fixed wing vehicle
- added compensation for maximum climbrate, minimum sinkrate, minimum airspeed and trim airspeed based on weight ratio and air density
- added atmosphere lib to standard atmosphere calculations
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Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com>
- add functionality to specify world name for simulation in case name
- add test for triggering an airspeed invalidation in case of pitot blockage
- add test for high wind (ramped up wind over short period) to NOT invalidate airspeed in this case
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
When the yaw estimate is converging, the controller makes the drone yaw
in order to follow the current setpoint. This is unintuitive for the
pilot and it is preferable if the drone continues to fly towards the
same physical direction.
Marco Hauswirth