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68,977 Commits 72 Branches 544 Tags
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Commit Graph
202 Commits
Author SHA1 Message Date
Peter Barker 0a41bc1984 SITL: replace ToRad with radians and ToDeg with degrees 2025-05-29 11:24:56 +10:00
Peter Barker af6fef9457 SITL: avoid nullptr deref in SIM_Aircraft 
AP_Scheduler may not be instantiated in examples

... we should also not be looking at the scheduler in here...
 2025-04-29 20:39:15 +09:00
Peter Barker 92db32fdce SITL: avoid use of Location alt field without frame 2025-04-15 21:15:42 +10:00
Andrew Tridgell 5d29f48077 SITL: added SIM_IMU_ORIENT parameter 
for testing non-level flight controllers
 2025-04-02 15:08:06 +11:00
Andrew Tridgell c78a5acfa6 SITL: added gyro to set_pose 2025-04-02 07:05:04 +11:00
joao cacador e8b5f82a0f SITL: handle case where servo is disabled in servo angle filtering 
If the servo is disabled (value 0), assign the default
trim value of 1500 before applying filtering.
 2025-04-01 12:15:27 +11:00
Andrew Tridgell a03d442272 SITL: added set_pose() method 
scripting control of simulator pose
 2025-03-26 20:02:20 +11:00
Peter Barker fd1ade76ca SITL: clamp rangefinder distance to 0m 
our starting positions are often underground
 2025-02-18 11:34:10 +11:00
Peter Barker a01b7e74f1 SITL: remove dead stores from rangefinder_range 
roll and pitch are unused if !SITL_RANGEFINDER_AS_OBJECT_SENSOR

../../libraries/SITL/SIM_Aircraft.cpp:546:13: warning: Value stored to 'roll' is never read [deadcode.DeadStores]
            roll = 0;
            ^      ~
../../libraries/SITL/SIM_Aircraft.cpp:551:13: warning: Value stored to 'roll' is never read [deadcode.DeadStores]
            roll = 0;
            ^      ~
../../libraries/SITL/SIM_Aircraft.cpp:557:13: warning: Value stored to 'pitch' is never read [deadcode.DeadStores]
            pitch = 0;
            ^       ~
../../libraries/SITL/SIM_Aircraft.cpp:562:13: warning: Value stored to 'pitch' is never read [deadcode.DeadStores]
            pitch = 0;
 2025-01-30 08:24:27 +11:00
Peter Barker c8dc6ad75f SITL: add Volz simulator 2025-01-15 18:45:45 +11:00
rishabsingh3003 99f4f13369 SITL: Add simulator for tethered vehicle 2024-12-10 10:48:00 +11:00
Peter Barker b36f539c7c SITL: avoid floating point exception around rangefinder distance 
projecting onto an infinite plane can cause exceptionally long rangefinder distances - for now jsut cap the distance that the simulated rangefinder can return to avoid floating point exceptions.

the FPE is caused in the Plane FlyEachFrame autotest when flying quadplane-copter_tailsitter - which ends up with a rangefinder at yaw-minus-180.
 2024-10-10 20:44:04 +11:00
Andrew Tridgell fea279b181 SITL: support more rangefinder orientations 
allows for quadplane tailsitter rangefinders
 2024-09-14 08:39:51 +10:00
Randy Mackay 77ba7cf04d SITL: aircraft sends wind to slung payload 2024-09-06 14:47:38 +10:00
Randy Mackay a1579bc31e SITL: integrate SlungPayload 2024-07-24 17:09:06 +10:00
George Zogopoulos e170710de9 SITL: Glider improvements 
Fixed balloon going below ground.
Enabled glider torque logging.
 2024-07-24 17:03:48 +10:00
Peter Barker 647048f703 SITL: add simulator for 1-LED boards 2024-07-17 17:18:27 +10:00
Peter Barker e42c9a588e SITL: add support for simulated GPIO LEDs 2024-07-11 20:08:13 +10:00
Peter Barker 5994664bf9 SITL: add simulated tie-down clamp 2024-06-11 09:56:43 +10:00
Peter Barker 6751bce0fc SITL: log number of times sim paused on serial0 buffer 
SITL pauses the simulation if we do not have a minimum amount of space in its out queue.

Log the number of times we do this.
 2024-06-11 08:51:25 +10:00
Andrew Tridgell e0af22ad8f SITL: update to work on newer cygwin versions 2024-05-28 11:33:38 +10:00
Andrew Tridgell 67c506e75c SITL: use new atmospheric tables 
and improve pitot handling
 2024-05-07 21:19:06 +10:00
Andrew Tridgell 53c0619a9a SITL: added Glider SITL model 2024-05-05 07:57:54 +10:00
Andrew Tridgell 1976f3d2d6 SITL: added StratoBlimp simulator 2024-04-27 22:03:05 +10:00
Andrew Tridgell c34e4907fe SITL: added moving precland simulator 
added SIM_PLD_SHIP to make the precland location track the SIM_SHIP
location, giving a nice way of having a landing marker on a moving
ship
 2024-03-12 10:45:56 +11:00
Andrew Tridgell cb01789b9f SITL: use AP_JSON 2024-02-21 12:09:48 +11:00
Peter BarkerandJoshua Henderson e8708227a1 SITL: new Loweheiser generator/efi sim 
Co-authored-by: Joshua Henderson <hendjoshsr71@gmail.com>

SITL: break out common GeneratorEngine code
 2024-01-23 11:27:30 +11:00
Peter Barker 5ae4355e26 SITL: correct compilation when HAL_LOGGING_ENABLED is false 2024-01-17 18:25:55 +11:00
Peter Barker 3a37796eb2 SITL: move simulated height_agl into fdm structure 
allows value to be shipped via multicast to simulated peripherals
 2024-01-08 20:00:01 +11:00
Andrew Tridgell 9428e41301 SITL: fixed running example firmwares 
don't call model update with no sitl instance
 2024-01-02 08:12:37 +11:00
Peter Barker fbe690d44b SITL: track simulated ADSB vehicles relative to simulation origin 
removes dependence on ArduPilot AHRS library

Also removes vehicles based off vehicle simulated position rather than distance-from-origin, so you always have company
 2023-11-02 15:52:42 +11:00
Tom Pittenger 8c4d00e6f2 SITL: add a thermal at home 2023-09-27 12:19:00 -07:00
Peter Barker 34bceb8eec SITL: log achieved speedup rate 2023-09-23 19:49:02 +10:00
Andrew Tridgell 1b6c329de5 SITL: use NaN for invalid rangefinder data 
needed to cope properly with terrain errors leading to negative
rangefinder data
 2023-08-24 13:06:40 +10:00
Michelle Rossouw e4d44c1006 SITL: Make SIM_Aircraft use double precision to stop SITL's short-range teleporting 2023-08-12 10:49:02 +10:00
bugobliterator 5f2dd4ab5c SITL: add support for testing DroneCAN 2023-03-29 17:16:39 +11:00
Andrew Tridgell 7a4483b091 SITL: new XPlane backend 
this makes use of DRefs to greatly improve XPlane support. It only
supports XPlane 11 and later

The key change is the use of a JSON file to map ArduPilot output
channels to DataRefs, and map raw joystick inputs to RC inputs

this gets rid of the awful throttle hack handling, and allows for
control of a much wider range of aircraft
 2023-01-31 11:22:08 +11:00
Andrew Tridgell eed6edc3b0 SITL: fixed sign of wind with AHRS_EKF_TYPE=10 and builtin models 
an alternative to #21929 that doesn't break RealFlight

needs testing with sailboats
 2022-12-11 09:42:07 +11:00
Andrew Tridgell 1138f9e624 SITL: allow for extra actuators to be marked as motors 2022-10-16 20:38:19 +11:00
Andrew Tridgell a0af08a3aa SITL switched to motor_mask for which actuators are motors 
this allows for any output to be an ESC, which allows for proper
simulation of quadplanes with ESCs on outputs 5-8 or 9-12, for testing
notch filtering
 2022-10-16 20:38:19 +11:00
Peter Barker 6be8d9cd06 SITL: remove unneeded circular rangfinder include 2022-10-11 10:50:13 +11:00
Shiv Tyagi 998119d011 SITL: fix var naming for precland device center 2022-08-09 18:00:11 +10:00
Iampete1 b3f09e5573 SITL: params always use set method 2022-08-03 13:43:48 +01:00
Andrew Tridgell 8cc5172ff3 SITL: fill in wind from flightaxis 2022-08-02 07:49:34 +10:00
Peter Barker e6e45eda97 SITL: populate rangefinder ranges for inbuilt sims 
These values are returned for the SITL rangefinder backend, type=100
 2022-05-24 10:38:57 +10:00
Peter Barker 348f0ad590 SITL: add SIM_SONAR_ROT, use it for measuring horizontal distances 2022-04-19 10:26:10 +10:00
Andrew Tridgell 536b59ed42 SITL: don't use adjusted terrain in SITL 2022-03-28 16:01:21 +11:00
Peter Barker edef2ceb56 SITL: usleep only on AP_HAL_SITL 2022-03-17 14:39:55 +11:00
Peter Barker b360521d0b SITL: permit double-precision maths in SITL even on embedded hardware 2022-03-17 14:39:55 +11:00
Peter Barker 0957131543 SITL: use AP_HAL::micros() for get_wall_time_us 2022-03-17 14:39:55 +11:00