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prepare for release v1.0.0 #95

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@PonomarevDA PonomarevDA commented Jan 6, 2025 •
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  • very significant refactoring: remove ROS and docker, build light AppImage instead
  • add pure plane (without lift motors) dynamics besides multocopters and vtols
  • add ardupilot SITL support
  • keep 3d simulator interface
  • keep RVIZ interface
  • keep PX4 SITL interface
  • keep dronecan interface
  • keep cyphal interface
  • keep firmware uploader and auto configurator
  • uav dynamics updates: add normal and friction resistance force
  • uav dynamics updates: improve control surfaces
  • uav dynamics updates: improve forces and moments calculations
  • 3d sim: add simple plane model
  • 3d sim: fix rotating rudder issue
  • (optionally) add windows exe file to run the simulator

Tested on:

  • px4 vtol sitl
  • px4 vtol dronecan
  • px4 vtol cyphal
  • px4 plane sitl
  • ardupilot plane sitl
  • ardupilot plane dronecan

Hints

How to build AppImage:

./scripts/build_appimage.sh

How to create slcan:

./scripts/create_slcan.sh

How to run PX4 SITL VTOL:

cd ~/PX4-Autopilot
PX4_SIM_MODEL=gazebo-classic_standard_vtol ./build/px4_sitl_default/bin/px4 ./build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i 0
cd ~/PX4-Autopilot
PX4_SIM_MODEL=gazebo-classic_plane ./build/px4_sitl_default/bin/px4 ./build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i 0

How to run ArduPilot SITL Plane:

cd ~/ardupilot
...

@PonomarevDA PonomarevDA added the enhancement New feature or request label Jan 6, 2025
@PonomarevDA PonomarevDA self-assigned this Jan 6, 2025
PonomarevDA and others added 3 commits January 7, 2025 16:32
@PonomarevDA
incremental improvements, alpha release v3
3e33110
@PonomarevDA
add dronecan sim interface, incremental improvements in uav dynamics,…
b39424e 
… alpha release v4
@frontw @PonomarevDA
add basic ArduPlane JSON integration (it has an issue with GPS healt …
3848881 
…status and dynamics doesnot correspond to the what the flight stack expects, but sill good for the first step), add ap_plane config, move other configs to the common dir
@PonomarevDA PonomarevDA force-pushed the pr-sim-v1.0.0 branch 3 times, most recently from ed8de96 to 4ad95e3 Compare January 12, 2025 17:12
frontw and others added 2 commits January 18, 2025 16:37
@frontw @PonomarevDA
ROS interface: added server mode which mimic rosbridge for direct con…
2ae40ba 
…nection with 3d sim (without ROS); use config for mode, port and ip (if needed in client mode)
@PonomarevDA
add build/ to .gitignore
7937f7e
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