mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
88d623bedb
* Add vitepress tree * Update existing workflows so they dont trigger on changes in the docs path * Add nojekyll, package.json, LICENCE etc * Add crowdin docs upload/download scripts * Add docs flaw checker workflows * Used docs prefix for docs workflows * Crowdin obvious fixes * ci: docs move to self hosted runner runs on a beefy server for faster builds Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: don't run build action for docs or ci changes Signed-off-by: Ramon Roche <mrpollo@gmail.com> * ci: update runners Signed-off-by: Ramon Roche <mrpollo@gmail.com> * Add docs/en * Add docs assets and scripts * Fix up editlinks to point to PX4 sources * Download just the translations that are supported * Add translation sources for zh, uk, ko * Update latest tranlsation and uorb graphs * update vitepress to latest --------- Signed-off-by: Ramon Roche <mrpollo@gmail.com> Co-authored-by: Ramon Roche <mrpollo@gmail.com>
36 lines
987 B
Markdown
36 lines
987 B
Markdown
# Modules Reference: Simulation
|
|
|
|
## simulator_sih
|
|
Source: [modules/simulation/simulator_sih](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih)
|
|
|
|
|
|
### Description
|
|
This module provides a simulator for quadrotors and fixed-wings running fully
|
|
inside the hardware autopilot.
|
|
|
|
This simulator subscribes to "actuator_outputs" which are the actuator pwm
|
|
signals given by the control allocation module.
|
|
|
|
This simulator publishes the sensors signals corrupted with realistic noise
|
|
in order to incorporate the state estimator in the loop.
|
|
|
|
### Implementation
|
|
The simulator implements the equations of motion using matrix algebra.
|
|
Quaternion representation is used for the attitude.
|
|
Forward Euler is used for integration.
|
|
Most of the variables are declared global in the .hpp file to avoid stack overflow.
|
|
|
|
|
|
|
|
<a id="simulator_sih_usage"></a>
|
|
### Usage
|
|
```
|
|
simulator_sih <command> [arguments...]
|
|
Commands:
|
|
start
|
|
|
|
stop
|
|
|
|
status print status info
|
|
```
|