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8ec1fb999900faab095f17fa3fcfd4b493e3db5c
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53 Commits
Author SHA1 Message Date
Roman 8ec1fb9999 ROMFS: added mixer for tailsitter simulation 
- simulated tailsitter needs a virtual elevator since we cannot simulate
elevons yet (liftDrag plugin does not model longitudinal moment Cm)

Signed-off-by: Roman <bapstroman@gmail.com>
 2018-02-13 20:47:40 -05:00
ChristophTobler cf79be1559 sitl ekf2 config: add vision position estimate 2018-01-28 21:07:48 +01:00
Beat Küng a329fd4c76 SITL configs: set SDLOG_DIRS_MAX to 7 
Avoids ending up with huge log directories.

plus some param alphabetic reordering
 2018-01-17 02:19:01 -05:00
Julien Lecoeur 0e65753568 Iris: set mixer to quad_wide 
The geometry was previously quad_deadcat in which front motors are closer to CG and thus more loaded in hover.
quad_wide is the same geometry as quad_deadcat except the CG is centered so all motors are loaded equally.
Flight logs on IRIS with deadcat mixer showed that
- all motors are equally loaded during hover (actuator_outputs 0 to 3 have similar values)
- a negative pitch offset is building up soon after takeoff (visible in actuator_controls)
 2018-01-16 16:09:15 +01:00
Beat Küng 1d59d89282 posix-config iris_replay: log until SITL exits 
If a log with multiple (dis)arming events was replayed, multiple logs were
created. This changes the replay to only create a single log.
 2018-01-15 10:27:56 +01:00
Nicolas de Palezieux f600cfbb9f Add support for testing precision landing in SITL simulation 2018-01-15 10:27:23 +01:00
Julian Oes 07ae1e4044 posix-configs: attitude quaternion for DroneCore 
DroneCore uses the attitude quaternion, and not the attitude
Euler angles.
 2017-10-13 18:11:33 +02:00
Julian Oes 2837870733 posix-configs: send gimbal attitude to mavros port 
The gimbal attitude is required by DroneCore.
 2017-10-13 18:11:33 +02:00
Julian Oes 1e91b8cd32 posix-configs: send gimbal attitude over mavlink 2017-10-13 18:11:33 +02:00
Beat Küng ebd2acfc43 posix-configs: enable ftp for all mavlink instances 2017-09-21 07:33:09 +02:00
NRottmann 5352cffe3f Changing Names 2017-09-13 06:20:05 -07:00
NRottmann e1eceda5f2 Change start up script 
Now the start up script starts a GPS simulator as well as the ekf in order
to estimate position and orientation
 2017-09-13 06:20:05 -07:00
NRottmann 989b1484cc HippoCampus AUV: Enable start without ROS wrappers 2017-09-13 06:20:05 -07:00
Sander Smeets c81dd46b02 land detector VTOL inherit MC maybe_landed (#7738) 
* maybe_landed state for VTOL inherited from MC
* set correct land detector for SITL
 2017-08-06 10:02:56 -04:00
sanderux 7612b94c72 Allow relaying from same system ID or with target component 0 2017-07-27 10:15:53 +02:00
Lorenz Meier 8bc0a8aece Geotagging config: Default vehicle to MAVLink 2 2017-07-18 23:05:43 +02:00
Lorenz Meier b1a987f06b Enable camera triggering and gimbal control via MAVLink 2017-07-18 23:05:43 +02:00
Beat Küng a63699060d ekf2: use ModuleBase & add module documentation 2017-07-14 11:57:11 +02:00
ChristophTobler add78a4b04 stream distance sensor at 10Hz for SITL-EKF testing 2017-07-11 13:59:12 +02:00
Daniel Agar 7a9e31f440 delete unused MPC_XY_FF and MPC_Z_FF (#7563) 2017-07-08 20:57:10 -04:00
Lorenz Meier 72e452ba32 Add missing Iris config 2017-07-06 07:42:06 +02:00
Lorenz Meier a6ef6c6e33 SITL Launcher: gzserver must be running when gzclient connects 2017-06-27 11:59:29 +02:00
Marco Zorzi aef522553e unmanned ground vehicle (UGV) controllers and Traxxas Stampede configuration (#7175) 2017-06-06 13:26:51 -04:00
Mohamed Abdelkader Zahana cd1e04d43c support of multi uav simulation in SITL 2017-05-14 15:46:18 +02:00
Daniel Agar ea2a611f0b posix-configs replace sdlog2 with logger 2017-04-24 10:12:23 +02:00
Lorenz Meier 5f135acf33 Land detector: Add mode for rovers 2017-04-02 21:52:18 +02:00
Lorenz Meier bbd1906dfb Add Rover SITL config 2017-04-02 21:52:18 +02:00
Matthias Grob bfb4de0e66 startup scripts/mc_pos_control: renamed parameters after refactor 2017-03-22 15:21:34 +01:00
ChristophTobler d5137ed794 set EKF2_AID_MASK and EKF2_HGT_MODE because of iris_opt_flow 2017-03-16 09:18:54 +01:00
Beat Küng 4b1bbaa114 posix: remove rgbledsim driver which does nothing 
In addition this is almost a copy of the rgbled driver
 2017-03-12 00:08:35 +01:00
Beat Küng 644d237ce6 posix-configs scripts: remove unneeded 'sleep 1' 
There is no need to wait, and it would be the wrong way of doing
startup synchronization.
 2017-03-10 11:28:41 +01:00
Daniel Agar e63ee9d8bd fw_att wheel controller enable param (default off) 2017-03-05 11:41:14 +08:00
Beat Küng 473192aa81 replay: some API refactoring & extensions 
in preparation to the updated ekf2 replay
 2017-03-04 22:47:54 +08:00
Beat Küng 037280c17d sitl: add iris_replay startup script, handle $replay_mode in sitl_run.sh 
usage:
export replay_mode=ekf2
export replay=<abs_path_to_log.ulg>
make posix none
 2017-03-04 22:47:54 +08:00
Daniel Agar b14cb952ae sitl plane update tuning 2017-02-12 11:03:51 +01:00
ChristophTobler 11de4d70a6 add config file for ekf2-optical flow 2016-12-30 10:39:57 +01:00
Lorenz Meier 48f1ae31dd Iris: use correct mixer for frame 2016-12-25 21:31:32 +01:00
Lorenz Meier 171ccd1203 POSIX SITL configs: Update default parameters to improve simulation behaviour 
The main changes include:
 * Better attitude tuning for airframes (more realistic models, the models had previously not as much thrust as the real vehicles)
 * Better waypoint and navigation default parameters which match the on-hardware parameters
 * More suitable minimum and trim airspeeds for VTOL and fixed wing which prevents stalls that happened in SITL previously (the new airspeeds match the real vehicles nicely)
 2016-12-25 18:15:51 +01:00
Lorenz Meier 42101671f4 Drop rate gains for H480 2016-12-24 16:14:52 +01:00
Lorenz Meier 07fecaa9d5 Re-tune the H480 config as we increased its simulated motor power recently. 2016-12-24 16:14:52 +01:00
Beat Küng d828023e47 SITL startup config: set SYS_MC_EST_GROUP 
so that we know which estimator was used in the log file
 2016-12-22 16:54:15 +01:00
Andreas Antener be2451cfc7 SITL: use logger for standard_vtol and upload *.ulg files after integrationtests 2016-12-13 10:20:14 +01:00
James Goppert 4b6a11161e Fixes for sitl gazebo ground truth. (#5932) 
* Fixes for sitl gazebo ground truth.

* Switch ekf2 to new logging module for sitl.
 2016-12-03 11:40:53 -05:00
Julian Oes 0a043365ec rename gazebo_tailsitter to tailsitter 
This is currently broken anyway but the new name makes more sense.
 2016-10-28 23:56:46 +02:00
Beat Küng 35e93c24e8 fix sitl_multiple_run.sh: adapt to path updates 2016-09-30 13:50:51 +02:00
Daniel Agar 9fd0513be3 vtol remove unused vehicle_status 2016-09-27 08:49:45 +02:00
Lorenz Meier bd922e4eed Standard VTOL: report correctly in SIM 2016-09-25 18:37:33 +02:00
Beat Küng 3ae2ca74c5 posix-configs: start vmount for typhoon 2016-09-19 07:55:38 +02:00
Beat Küng 057d71e101 posix-configs: use 'mixer append' command for typhoon mount mixer 2016-09-19 07:54:51 +02:00
Lorenz Meier 3f07b03911 SITL: Tune standard VTOL to have better position control performance & update gazebo 2016-09-06 11:35:52 +02:00