- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
* Add techpod SITL target
This adds a SITL target forthe techpod fixedwing model
* Update sitl_gazebo submoudle
This submodule update includes the techpod UAV model
* Add jsbsim bridge to enable jsbsim for px4 SITL/HIL on jsbsim
This is a PX4 HIL/SITL integration into JSBSim. JSBSim is an open source flight dynamics model (http://jsbsim.sourceforge.net/)
Currently there are three models available which is the rascal, quadrotor_x, hexarotor_x integrated into the bridge.
The simulation can be run with the firmware with the following command for example
```
make px4_sitl jsbsim_rascal
```
The visualization is done flightgear and is done by the bridge sending UDP packets to flightgear. To disable the visualization `HEADLESS=1` when running the make command.
The simulation can be configured through the configuration files under the `config` directory through a xml file. Senor configurations, The xml file name should match the name of the model.
* Update Tools/sitl_run.sh
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
Co-authored-by: Beat Küng <beat-kueng@gmx.net>
It loads the battery parameters but then overwrites them
with hardcoded values and it breaks the ModuleParams
parent/child hierarchy. Both is undesired.
because we need to have SITL simulation as realistic as possible
compared to a real flight with default settings such that we
either fix the problems or adjust the defaults already in SITL testing.
- avoids the need for ekf2_timestamp publications by q and lpe
- adds logger to the lockstep cycle and makes it poll on ekf2_timestamps
or vehicle_attitude. This avoids dropped samples (required for replay).
