This PR clarifies the intended SIM_BATT_* param behavior
Step 1: Split Frame's battery management into smaller parts
Step 2: Move battery managagement out of Frame to Aircraft-children which have a Frame
Step 3: Move SITL::Plane's battery consumption up one level in the 'function stack'
Step 4: SIM::Battery manages its own initial voltage
Step 5: Make Aircraft responsible for managing battery resets
Step 6: Frame now does not use/have a SIM::Battery
(It uses the batt owned by Aircraft-children which have a Frame.)
Step 7: Put battery maybe-reset logic into SITL::Battery
Only one ever exists so there's little reason to construct all
possibilities ahead of time and store them in global RAM. Instead, keep
a list of the parameters and only construct the one requested. Saves
some 60K of RAM on hardware when using sim on hardware.
In particular, enough is saved to get esp32empty copter building again.
But esp32 sim on hardware still does not work due to other regressions.
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
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
==15803== Conditional jump or move depends on uninitialised value(s)
==15803== at 0x4C34975: index (in /usr/lib/valgrind/vgpreload_memcheck-amd64-linux.so)
==15803== by 0x444D8D: SITL::Frame::load_frame_params(char const*) (SIM_Frame.cpp:363)
==15803== by 0x445415: SITL::Frame::init(char const*, SITL::Battery*) (SIM_Frame.cpp:432)
==15803== by 0x3696ED: SITL::MultiCopter::MultiCopter(char const*) (SIM_Multicopter.cpp:35)
==15803== by 0x34B49C: SITL::MultiCopter::create(char const*) (SIM_Multicopter.h:44)
==15803== by 0x34C58E: HALSITL::SITL_State::_parse_command_line(int, char* const*) (SITL_cmdline.cpp:480)
==15803== by 0x344005: HALSITL::SITL_State::init(int, char* const*) (SITL_State.cpp:923)
==15803== by 0x33D854: HAL_SITL::run(int, char* const*, AP_HAL::HAL::Callbacks*) const (HAL_SITL_Class.cpp:182)
==15803== by 0x15ACDD: main (Copter.cpp:678)
==15803==
this takes account of motor expo, velocity of air over propellers,
mass, size and other factors
It also allows for frame parameters to be supplied as an external json file
Hunter McClelland
Thomas Watson
Bob Long
Andrew Tridgell
Peter Barker
murata
Jacob Olson
Andy Piper
Iampete1
Randy Mackay
Paul Riseborough
Rishabh
Pierre Kancir