* Merge cyberzoo model (squashed)
Squashed commit of the following:
commit 4ea7054205
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Tue Feb 6 11:30:28 2018 +0100
Remove origin marker from worlds
commit c008c9658a
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Fri Feb 2 17:25:11 2018 +0100
Compress textures
Reduced texture dimensions. Size of model folder is now approx.
20 MB instead of 60+ MB.
commit 5b63fc1988
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Fri Feb 2 17:03:26 2018 +0100
Minor tweaks to models
commit ed003351d1
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Fri Feb 2 15:26:28 2018 +0100
Add cyberzoo props
commit 751b94364a
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Thu Feb 1 15:03:30 2018 +0100
Restore cyberzoo floor collision box
commit 1d4fd2d92f
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Thu Feb 1 14:59:44 2018 +0100
Add cyberzoo surroundings to main model in separate layers
commit 9df9f2832c
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Thu Feb 1 14:48:06 2018 +0100
Separate cyberzoo model into layers
Makes it easier to hide parts of the model in the GUI.
commit f8c4221e98
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Thu Feb 1 11:47:52 2018 +0100
Add daylight in windows on outer walls
commit b0e6a0c572
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Mon Jan 29 16:25:08 2018 +0100
Remove old cyberzoo model, fix dependencies
commit dd54000771
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Mon Jan 29 15:04:43 2018 +0100
Add cyberzoo world with orange poles for orange_avoider
commit a34e285082
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Mon Jan 29 14:30:47 2018 +0100
Set world coordinates and rotation, fix naming conflict
commit 1a99ebb7bd
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Thu Jan 18 11:58:06 2018 +0100
Create cyberzoo world
To-do: set origin coordinates and rotate environment
commit ebf7eaf9a7
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Thu Jan 18 11:41:37 2018 +0100
Minor fixes to surroundings
commit c57312c557
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Thu Jan 18 11:15:09 2018 +0100
Add updated cyberzoo surroundings and outside walls
commit 58914e14ae
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Wed Jan 17 17:24:57 2018 +0100
Add first draft of cyberzoo surroundings
commit 40712f5f3b
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Tue Dec 12 13:45:25 2017 +0100
Fix cyberzoo origin
commit e47f76cee5
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Tue Dec 12 13:34:11 2017 +0100
Fix orange_pole2 smoothing errors
commit b1e08695e7
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Tue Dec 12 13:09:09 2017 +0100
Add orange pole and traffic mat objects
commit 8bd3d214e6
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Fri Dec 8 14:48:53 2017 +0100
Fix optitrack camera color
commit 59e7b67fef
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Fri Dec 8 14:43:39 2017 +0100
Fix lighting colors
commit 810e6124c1
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Fri Dec 8 14:20:47 2017 +0100
Fix optitrack cameras
commit e6e17c2677
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Fri Dec 8 14:10:55 2017 +0100
Import improved model
commit e9ed496af9
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Thu Nov 30 16:38:22 2017 +0100
Fix ambient lighting of cyberzoo_solid
commit 0e1c2600d6
Author: Tom van Dijk <tomvand@users.noreply.github.com>
Date: Wed Nov 29 14:38:05 2017 +0100
First steps towards detailed cyberzoo model. Got transparency working.
* Fix altitude overshoot in simulation
- Bypass INS
- Set nominal hover throttle to 0.51 (verified in simulation and on real drone).
* Fix INS horizontal offset
- Set flight plan origin to match gazebo spherical coordinates,
prevents https://github.com/paparazzi/paparazzi/issues/2134#issuecomment-342493105
* Increase link lost timeout to 5s
Otherwise gazebo will continuously lose link. Might need to lower
this for real-world flights...
* Fix image.c compilation warnings
* Move dummy waypoint to 0, 0
Should prevent "waypoint 'dummy' too far from HOME" warnings when
max_dist_from_home is small (e.g. cyberzoo flightplans) and when
HOME is set appropriately close to the flight plan origin.
* Rename 2017 -> 2018
Also removed simulation aircraft as it is no longer necessary.
* Move modules to firmware section
* Restore original nominal throttle
Nominal throttle of 0.51 was measured without bumpers! 0.68 is correct
with bumpers attached. Instead, increased the weight of the gazebo model.
* Clean up control panel
- Removed Bebop video stream since it did not work
- Removed the Gazebo tool. When pointed to /usr/bin/gazebo it does actually start, but
the GAZEBO_MODEL_PATH appears to be ignored this way.
Also added conf/video.sdp to simplify video streaming (no such file
was present in var).
* Tag airframe after successful test flight
Performed test flight in cyberzoo with course2018_orangeavoid flightplan in NAV mode.
* Fix Gazebo tool, add Simulation - Gazebo + Joystick session
The new gzclient_launcher.sh script sets up the correct GAZEBO_MODEL_PATH
(which was not available when gzclient was started from the Paparazzi Center
even if it was added to ~/.bashrc). It also allows the client to be killed
from the pprz center.
* FIX remove natnet from simulation session
* Retune INDI for Bebop1 with bumpers
Previous tuning resulted in slight attitude oscillations.
* Tag after successful testflight
* Add GCS flags
* Change gazebo bebop colors
* Disable light and shadows
Top light caused ogre crash in gazebo 8.3 (not sure if version error or weak gpu).
Disabled shadow for performance since there is no light anymore.
* Reduce bebop front cam FoV to fix AxisAlignedBox crash in gazebo7
Apparaetly gazebo 7 does not yet support wide-angle cameras with
HFoVs above 180deg.
* Distance Counter Python
* Cleanup after merge
* Remove image.c fix (see #2237)
* Add 'Simulation - Gazebo' session
Avoids errors when joystick is not connected.
* First attempt at bebop fisheye camera
* Try setting raw camera output size during initialization, does not work
SetImageSize() is ignored and SetEnvTextureSize() causes an
exception. Currently the camera output is too large for real-time
operation.
* FIX apply MT9F002_OUTPUT_SCALER to gazebo front camera
* Add MT9F002 camera cropping to fdm_gazebo
* Apply MT9F002_TARGET_FPS to bebop front cam in gazebo
* Set up bottom camera for bebop model
* Minor fixes and cleanup
* Fix MT9F002 partially applied to all cameras
* Remove sensors_params_bebop, introduce NPS_SIMULATE_MT9F002
Reduces duplicate code for sensor parameters, and follows the
same pattern as NPS_SIMULATE_LASER_RANGE_ARRAY.
Also does not require the sensor params to be changed in every
bebop airframe.
* Add gazebo model for Parrot Bebop 1
* Add first-order high pass filter
* First implementation of actuator dynamics and spinup torque
Flies ok with PID control
Does not fly ok with INDI, the required G1 R is 0.159 instead of
0.0022 (estimated by flying in adaptive mode). The other parameters
are close to those specified in the airframe file.
* FIX incorrect yaw behavior
Fixed two bugs:
1. gazebo_actuators.torques was set to NPS_ACTUATOR_THRUSTS
2. spinup torque direction is now also controlled by motor mixing
* Clean up debug code and file logger
* Clean up gazebo example airframes
* Minor cleanup
* FIX warnings about missing initializer in fdm_gazebo
* Update documentation
* Remove modules section, move to firmware
* Minor fixes to fdm_gazebo and high_pass_filter
* Move actuator dynamics to included airframe files
Should prevent duplicate actuator defines spread accross all
airframe files.
* Fix FILTER_ROLL_RATE in bebop2_indi airframe
Moved to firmware targets so it will be disabled in gazebo.
Is this actually working in jsbsim??
* Update documentation
* Fix newlines
* Minor fixes in nps_fdm_gazebo.cpp
* Re-enable filter roll rate
Caution: causes oscillations around roll axis in gazebo
* Disable roll filter and cleanup
Tom van Dijk