v0.7.1

What's Changed

• update config and improve dynamics by @PonomarevDA in #46
• add simple redundancy scenarios by @PonomarevDA in #47
• update communicators by @PonomarevDA in #48
• add cyphal octoplane vtol coaxial by @PonomarevDA in #49
• add new mission and more flight log examples by @PonomarevDA in #50

Full Changelog: v0.7.0...v0.7.1

v0.7.0

What's Changed

• add px4 vtol v1.14 with control allocation by @PonomarevDA in #40
• optimize cyphal communicator by @PonomarevDA in #41
• add px4 cyphal vtol by @PonomarevDA in #42
• add test scenario by @PonomarevDA in #43
• improve vtol configs by @PonomarevDA in #44
• add more cyphal topics by @PonomarevDA in #45

Full Changelog: v0.6.2...v0.7.0

v0.6.2

What's Changed

• fix px4 dronecan magnetometer config by @PonomarevDA in #38
• fix dronecan configs for px4 quadcopter by @PonomarevDA in #39
• migrate to external autopilot-tools by @PonomarevDA in #37

Full Changelog: v0.6.1...v0.6.2

v0.6.1

What's Changed

• migrate from fix to fix2 by @PonomarevDA in #34
• add ardupilot cyphal lua by @PonomarevDA in #33
• fix bug when there are multiple of devices similar to sniffer by @PonomarevDA in #35

Full Changelog: v0.6.0...v0.6.1

v0.6.0

What's Changed

• add cyphal esc feedback by @PonomarevDA in #25
• add test scenarios by @PonomarevDA in #29
• add fault scenarios and update submodules by @PonomarevDA in #30
• update fault scenarios docs by @PonomarevDA in #31
• add octorotor dynamics by @PonomarevDA in #32

Full Changelog: v0.5.0...v0.6.0

v0.5 (Cyphal and DroneCAN)

Cyphal/DroneCAN HITL UAV dynamics simulator for PX4/Ardupilot autopilots.

The software is distributed as docker image. Please, check Dockerhub: uavcan_hitl_dynamics_simulator or build it manually.

Main changes between v0.4 and v0.5 are:

• #19 add cyphal tutorial
• #20 add more cyphal gps subjects
• #21 add ice stall test scenario
• #22 fix cyphal gps scale
• #23 remove uavcan_msgs package
• #24 update docs and add config scripts
• #26 fix broken links in readme & infinite loop in px_uploader.py
• #28 fix configuration script

Full changelog: v0.4.0...v0.5.0.

v0.4 (Cyphal and DroneCAN)

Cyphal/DroneCAN HITL UAV dynamics simulator for PX4/Ardupilot autopilots.

Key features:

• support MAVLink SITL mode for PX4,
• support DroneCAN HITL mode for both PX4 and Ardupilot,
• [NEW] support Cyphal and DroneCAN HITL for Ardupilot.
• 2 dynamics and airframes: quadcopter and VTOL.

The software is distributed as docker image. Please, check Dockerhub: uavcan_hitl_dynamics_simulator.

Main changes between v0.3 and v0.4 are:

• #5 fixes after noetic usage
• #7 remove leading slash in tf frames
• #8 refactoring: inno vtol submodule
• #12 fix bug occurred in debug build type
• #14 fix props location: update submodule
• #15 improve run scripts and instruction
• #16 refactoring: communicators and workflows
• #17 add partial cyphal mode
• #18 add minimal cyphal sim

Full changelog: v0.3 <- v0.4.

v0.3 (DroneCAN PX4 only)

UAVCAN HITL UAV dynamics simulator for PX4 Autopilot.
It supports both SITL and UAVCAN HITL modes for inno_vtol and flightgoggles_multicopter (not well tested yet) dynamics.

New since v0.2:

• #2 use public px4 autopilot
• #3 add new sensors
• add docker image to Dockerhub as uavcan_hitl_dynamics_simulator (it supports only inno_vtol hitl now)

Full changelog: v0.2 <- v0.3.

v0.2 (DroneCAN PX4 only)

Now it works with public version of InnopolisAero/PX4-Autopilot repository.
It supports both SITL and UAVCAN HITL modes for inno_vtol and flightgoggles_multicopter (not well tested yet) dynamics.

New since v0.1:

• add github workflow for installation and building and dockerfile
• significant refactoring: remove hardcode somewhere, create reverse mixer to support different airframes, add babyshark airframe (just for test)
• use separated inno_vtol airframe instead of modified standard_vtol for sitl
• improve parameters for both dynamics

Full changelog: v0.1 <- v0.2.

v0.1 (DroneCAN PX4 only)

First version of HITL UAV dynamics simulator.
It supports both SITL and HITL modes.

• HITL mode requires CUAV v5 with loaded attached PX4 firmware and uavcan sniffer,
• SITL PX4 Firmware is not public yet.

Example of usage shown below: