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implement SITL in gazebosim with ArduCopterPlugin

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need implement fake eeprom & fake IO

need implement fake system function

can compile, stuck in isEEPROMContentValid()

EEPROM in memory work

EEPROM as file should work

fix some complie warning

MSP over TCP work (add dyad.c)

a little clean up

fix FLASH_CONFIG_Size in ld script & implement some pwmout

IO to simulator work!! need to check direction & scale!!

can fly but Gyro buggy

move dyad.c

fix busy-loop (limit to max 20kHz)

can simulatie in different speed now! (hard code)

add option for IMU calculation

add README.md

move dyad.c and fix F3 overrun the flash size

explanation SITL in README.md and reuse CFLAGS, ASFLAGS
This commit is contained in:
cs8425 2017-03-31 02:35:06 +08:00
parent c2307a4bea
commit 120fa21693
23 changed files with 2668 additions and 3 deletions
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7
src/main/flight/imu.h
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@ -73,3 +73,10 @@ int16_t calculateThrottleAngleCorrection(uint8_t throttle_correction_value);
void imuResetAccelerationSum(void);
void imuInit(void);
#ifdef SIMULATOR_BUILD
void imuSetAttitudeRPY(float roll, float pitch, float yaw); // in deg
void imuSetAttitudeQuat(float w, float x, float y, float z);
#endif