a4b04c3982
SimulatorMavlink: rename _airspeed_blocked to _airspeed_disconnected
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-11-09 09:42:43 +01:00
2d78383296
Add the capability to use Gazebo Harmonic if it is installed
2023-10-11 10:21:09 -04:00
83841d1ad1
[gz-bridge] fix GZ timeout for slow starting simulations
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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com >
2023-10-07 12:27:52 -04:00
23b31cc5fd
manual_yaw: compensate for yaw estimate convergence
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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.
2023-08-30 09:56:19 +02:00
86822171b9
Add SITL targets for Iris models with depth cameras
2023-08-22 11:50:29 -04:00
d65ddbf810
simulation/sensor_gps_sim: lower GPS velocity variance
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- for a multicopter EKF2 default required GPS speed accuracy is 0.5 m/s
2023-07-26 12:42:18 -04:00
05f5ab7988
simulator_sih: increase stack size by 310 bytes
2023-07-24 13:10:31 +02:00
b405a1aa49
advertise esc_status where is publishes
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- esc_status is an optional logging topic resulting in it not being
logged if it doesn't get advertise -> Add advertise where applicable
2023-07-18 09:23:36 +02:00
f000238987
SensorGps.msg: switch to double precision for lat/lon/alt
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To match https://github.com/PX4/PX4-GPSDrivers/pull/132 - adding high precision RTK lat/lon/alt components
2023-07-13 07:50:09 +02:00
e3aea937c3
Support quadtailsitter in SITL
2023-05-29 12:25:20 +02:00
98026a3e10
gz_bridge: fix missing orientation and frames in odometryCallback ( #21348 )
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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-04-12 22:46:16 +02:00
13487c654d
ROMFS: add SITL generic iris airframe (SYS_AUTOSTART 10016) for backwards compatibility (airsim, etc) ( #21410 )
2023-04-01 20:41:33 +02:00
e375e02974
Add GPS spoofing state
2023-03-14 20:28:32 -04:00
e5d5fcd315
Subscribe to vehicle odometry in GZ Bridge
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This PR subscribes to the vehicle odometry in gz bridge / Add x500_vision model
Fix transforms
F
2023-03-06 09:27:35 -05:00
bde194fb12
simulation/gz_bridge: local_position_groundtruth include heading ( #21224 )
2023-03-01 18:44:31 +01:00
ea6814d258
Simulation Gazebo: Use Gazebo Airpressure sensor ( #21176 )
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* Simulation Gazebo: Use Gazebo Airpressure sensor
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
* Fixed build
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
* Added feedback
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
* make linters happy
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
---------
Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
2023-02-22 19:32:25 +01:00
5676cc32bc
Optionally enable sensor simulations
2023-02-21 11:16:25 -05:00
0e1e1afcf9
Correct dates in the license headers
2023-02-15 01:37:32 +09:00
0b3f4dd385
Inject failure for airspeed sim
2023-02-15 01:37:32 +09:00
3f50bd051f
Optionally enable airspeed sensor sim
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Enable and disable sensor sim module with parameter
2023-02-15 01:37:32 +09:00
d5ddb44241
Add sensor airspeed sim
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This commit adds the airspeed sensor sim to simulate airspeed sensors
2023-02-13 13:00:39 -05:00
ebc1d7544e
battery_simulator: add support for failure injection
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For failsafe triggering in automated tests
2023-02-07 19:11:08 -05:00
60de5b3ea4
simulation/gz_bridge: remove proceeding px4_ from servos in gazebo model ( #20998 )
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Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com >
2023-01-24 19:56:11 -05:00
684b4a4b8a
simulation/gz_bridge: rc_cessna plane model working, Gazebo Garden updates, and prepare for proper airspeed ( #20989 )
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Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com >
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
2023-01-24 19:01:45 -05:00
64c2ec5eea
simulation/gz_bridge: remove cmake CONFIGURE_DEPENDS
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- PX4 build system simulation targets are optional and no longer
strictly required
2023-01-24 13:58:30 -05:00
9cb6de8010
simulation: relax jmavsim java requirements (finding vecmath.jar)
2023-01-24 13:56:24 -05:00
644aeb9153
support fixed-wing in new Gazebo (gz or ignition gazebo) ( #20939 )
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* Add gz plane airframe config
Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com >
Co-authored-by: Benjamin Perseghetti <bperseghetti@rudislabs.com >
2023-01-24 09:22:53 -05:00
3f842f01a0
simulator/gz_bridge: split actuator outputs for ESCs and servos ( #20979 )
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- existing SIM_GZ outputs -> SIM_GZ_EC (ESCs)
- new SIM_GZ_SV for servos (not fully implemented)
2023-01-21 14:44:09 -05:00
6991ac014c
rename 'gazebo' simulation to 'gazebo-classic' ( #20936 )
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- use `gazebo-classic` everywhere consistently referring to the original Gazebo (eg version 9,10,11)
- additional `gazebo_*` helper targets added for compatibility, but warn about deprecation and tell you the new target naming
- use `gz` everywhere when referring to Gazebo (aka Ignition Gazebo or new Gazebo)
2023-01-15 11:36:12 -05:00
52b9b9ba2f
simulation: restore 'gazebo' alias for 'gazebo_iris'
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- only create helper targets if Gazebo 11 found on system
2023-01-14 17:03:18 -05:00
af336719e6
gz_bridge: fix world selector environment variable
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Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it >
2023-01-08 00:15:35 -05:00
618288cca9
SITL Gazebo classic make airframes simulator specific
2023-01-07 17:00:35 -05:00
97c8a60d67
SITL gz make airframes simulator specific
2023-01-07 17:00:35 -05:00
ae4cb24100
SITL flightgear make airframes simulator specific
2023-01-07 17:00:35 -05:00
1abe35c220
SITL jsbsim make airframes simulator specific
2023-01-07 17:00:35 -05:00
75125da34c
SITL sihsim make airframes simulator specific
2023-01-07 17:00:35 -05:00
95a6eba36c
SITL jmavsim make airframes simulator specific
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-cleanup and simplify jmavsim SITL launch and debug
2023-01-07 17:00:35 -05:00
14bf04b9a4
SIH: add to px4_fmu-v5_default and auto start GPS sim driver
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- add simulator kconfig dependencies
- exclude SIH (+deps) where sufficient flash isn't available
2023-01-04 16:26:15 -05:00
72cb4bee01
SITL gz fixes and init cleanup ( #20725 )
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- remove broken gz version handling and remove x500-legacy
- fix all shellcheck warnings
- prepare for Gazebo Garden compatibility (needs more work)
2022-12-07 15:41:13 -05:00
2833832968
simulation/gz_bridge: ignition with no lockstep ( #20561 )
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When using ignition SITL simulation with NO_LOCKSTEP, the SITL PX4 fails to update the IMU data from Ignition Gazebo.
The timestamp for the IMU data is taken from the ignition message:
- In LOCKSTEP mode the clock from the ignition simulation and the one from PX4 SITL are synchronized, hence everything works fine
- In NO_LOCKSTEP mode, those clocks are not synchronized anymore, so the timestamp for the IMU data should not be the one from Ignition but the current time in PX4 SITL when receiving the message.
2022-11-22 11:26:11 -05:00
8e5efb0131
simulator_mavlink: Add basic vio failure injection ( #20577 )
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* simulator_mavlink: Add basic vio failure injection
Signed-off-by: Paul Frivold <paul@kefrobotics.com >
* simulator_mavlink: Rm failure not supported warning
Failures commands are also handled in other files,
so warning here could be confusing.
Signed-off-by: Paul Frivold <paul@kefrobotics.com >
Signed-off-by: Paul Frivold <paul@kefrobotics.com >
2022-11-14 13:36:23 +13:00
96a305322a
params/uorb docs: rename mixer to control allocation ( #20447 )
2022-10-24 13:22:26 +02:00
cea185268e
msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge
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- update all msgs to be directly compatible with ROS2
- microdds_client improvements
- timesync
- reduced code size
- add to most default builds if we can afford it
- lots of other little changes
- purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
2022-10-19 19:36:47 -04:00
5ca28dd6dc
Use isAllFinite() in all places that check finiteness on entire vectors or matrices
2022-10-19 19:09:20 +02:00
d792a3ff5b
simulator_mavlink: use existing development/common mavlink generation if available
2022-10-17 16:16:36 -04:00
ce609144b0
simulation/gz_bridge: fix implicit floating-point conversions
2022-10-09 14:11:19 -04:00
f9522e831c
Gazebo Simulation Enablement ( #20319 )
2022-09-29 13:49:31 -04:00
70d73c8690
Advanced Plane Airframe for SITL Advanced Lift-Drag Plugin ( #20207 )
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* Changed sitl_gazebo to the advanced liftdrag plugin fork.
* Added advanced plane and its associated parameters to PX4. Also tweaked one of the plugins to fix a compilation error (upcasting from float to double).
* Switched gazebo back to main branch, to avoid merge conflicts.
* Change simulator bridge back to what it was in main branch
* Changed sitl_gazebo to match the PX4 main branch's (commit hash b968405)
* Changed SimulatorIgnitionBridge to match most recent main.
2022-09-27 23:09:27 +02:00
77fdce9f3c
drivers/rc/crsf_rc: update standalone driver for CRSF and direct support for lq/rssi ( #20084 )
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Co-authored-by: Chris Seto <chris1seto@gmail.com >
2022-09-23 19:19:25 -04:00
87815d8869
simulator_ignition_bridge: add simple esc_status publication
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- ideally we'd get this from the actual joint velocity, but this is
good enough to start
2022-09-19 09:49:12 -04:00
Silvan Fuhrer