From 5ad54b16b6c1f640a4025a5c4cabce6683741374 Mon Sep 17 00:00:00 2001 From: stmoon Date: Fri, 8 Dec 2017 16:35:58 +0900 Subject: [PATCH 01/11] add random walk noise for GPS (like gazebo) --- src/me/drton/jmavsim/SimpleSensors.java | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/src/me/drton/jmavsim/SimpleSensors.java b/src/me/drton/jmavsim/SimpleSensors.java index 5899a72c..8f4db4ef 100644 --- a/src/me/drton/jmavsim/SimpleSensors.java +++ b/src/me/drton/jmavsim/SimpleSensors.java @@ -34,6 +34,9 @@ public class SimpleSensors implements Sensors { private float epvLow = 0.4f; // final GPS vertical estimation accuracy private float fix3Deph = 3.0f; // maximum h-acc for a "3D" fix private float fix2Deph = 4.0f; // maximum h-acc for a "2D" fix + // gps noise + private float gpsNoiseStdDev = 0.05f; + private Vector3d randomWalkNoise = new Vector3d(); // accuracy smoothing filters, slowly improve h/v accuracy after startup private Filter ephFilter = new Filter(); private Filter epvFilter = new Filter(); @@ -179,8 +182,16 @@ public void update(long t) { GNSSReport gpsCurrent = new GNSSReport(); eph = (float)ephFilter.filter(ephLow); epv = (float)epvFilter.filter(epvLow); + + // add noise (random walk) + Vector3d zeroVector = new Vector3d(); + Vector3d whiteNoise = addZeroMeanNoise(zeroVector, gpsNoiseStdDev); + randomWalkNoise.add(whiteNoise); + Vector3d noisedPos = new Vector3d(object.getPosition()); + noisedPos.add(randomWalkNoise); + setGlobalPosition(noisedPos); - gpsCurrent.position = globalPosition; //LatLonAlt.fromVector3d(addZeroMeanNoise(globalPosition.toVector3d(), 0.000001)); + gpsCurrent.position = globalPosition; gpsCurrent.eph = eph; gpsCurrent.epv = epv; gpsCurrent.velocity = new Vector3d(object.getVelocity()); From 77696ad6db8e62286e597d3dc7ddafced825e323 Mon Sep 17 00:00:00 2001 From: stmoon Date: Tue, 12 Dec 2017 11:21:42 +0900 Subject: [PATCH 02/11] implement sensor control dialog (not yet working) --- src/me/drton/jmavsim/SensorControlDialog.java | 66 +++++++++++++++++++ src/me/drton/jmavsim/Sensors.java | 2 + src/me/drton/jmavsim/SimpleSensors.java | 10 ++- src/me/drton/jmavsim/Simulator.java | 1 + src/me/drton/jmavsim/Visualizer3D.java | 31 +++++++++ 5 files changed, 109 insertions(+), 1 deletion(-) create mode 100644 src/me/drton/jmavsim/SensorControlDialog.java diff --git a/src/me/drton/jmavsim/SensorControlDialog.java b/src/me/drton/jmavsim/SensorControlDialog.java new file mode 100644 index 00000000..fed7a3aa --- /dev/null +++ b/src/me/drton/jmavsim/SensorControlDialog.java @@ -0,0 +1,66 @@ +package me.drton.jmavsim; + +import java.awt.*; +import java.awt.event.*; +import javax.swing.*; + + +import java.awt.*; + +public class SensorControlDialog extends JDialog implements ActionListener { + + protected Sensors sensors = null; + + + private JTextField gpsNoiseText = new JTextField(10); + private JButton gpsNoiseButton = new JButton("GPSNoise"); + + + private JTextField gyroNoiseText = new JTextField(10); + private JButton gyroNoiseButton = new JButton("GyroNoise"); + + + public SensorControlDialog(JFrame frame) { + super(frame, "Sensor Control Dialog"); + + setLayout(new GridLayout(3,2)); + + Panel gpsPanel = new Panel(); + gpsPanel.setLayout(new FlowLayout()); + gpsPanel.add(new JLabel("GPSNoise")); + gpsPanel.add(gpsNoiseText); + gpsPanel.add(gpsNoiseButton); + + Panel gyroPanel = new Panel(); + gyroPanel.setLayout(new FlowLayout()); + gyroPanel.add(new JLabel("GyroNoise")); + gyroPanel.add(gyroNoiseText); + gyroPanel.add(gyroNoiseButton); + + + add(gpsPanel); + add(gyroPanel); + + this.gpsNoiseButton.addActionListener(this); + + } + + public void setSensor(Sensors sensors) { + this.sensors = sensors; + } + + @Override + public void actionPerformed(ActionEvent e) { + String str = e.getActionCommand(); + + if ( str == "GPSNoise") { + System.out.println("AAA"); + sensors.setParameter("GPSNoise", 0.001f); + } + } + + + + + +} diff --git a/src/me/drton/jmavsim/Sensors.java b/src/me/drton/jmavsim/Sensors.java index 95011ee2..ce327635 100644 --- a/src/me/drton/jmavsim/Sensors.java +++ b/src/me/drton/jmavsim/Sensors.java @@ -36,4 +36,6 @@ public interface Sensors { void update(long t); + void setParameter(String name, float value); + } diff --git a/src/me/drton/jmavsim/SimpleSensors.java b/src/me/drton/jmavsim/SimpleSensors.java index 8f4db4ef..94f2eeae 100644 --- a/src/me/drton/jmavsim/SimpleSensors.java +++ b/src/me/drton/jmavsim/SimpleSensors.java @@ -174,7 +174,7 @@ public boolean isGPSUpdated() { public void update(long t) { float eph, epv; setGlobalPosition(null); - + // GPS if (gpsStartTime > -1 && t > gpsStartTime && gpsNext <= t) { gpsNext = t + gpsInterval; @@ -200,6 +200,14 @@ public void update(long t) { gps = gpsDelayLine.getOutput(t, gpsCurrent); } } + + @Override + public void setParameter(String name, float value) { + // TODO : implement the set parameters + if ( name == "xxx" ) { + gpsNoiseStdDev = value; + } + } // Utility methods diff --git a/src/me/drton/jmavsim/Simulator.java b/src/me/drton/jmavsim/Simulator.java index 9ea7eb4a..be0b26dc 100644 --- a/src/me/drton/jmavsim/Simulator.java +++ b/src/me/drton/jmavsim/Simulator.java @@ -247,6 +247,7 @@ else if (DEFAULT_MAG_FIELD.y == 0.0f && (DEFAULT_MAG_FIELD.x != 0.0 || DEFAULT_M visualizer.addWorldModels(); visualizer.setHilSystem(hilSystem); visualizer.setVehicleViewObject(vehicle); + visualizer.setVehicle(vehicle); // set default view and zoom mode visualizer.setViewType(GUI_START_VIEW); diff --git a/src/me/drton/jmavsim/Visualizer3D.java b/src/me/drton/jmavsim/Visualizer3D.java index 7610e73e..47f9d764 100644 --- a/src/me/drton/jmavsim/Visualizer3D.java +++ b/src/me/drton/jmavsim/Visualizer3D.java @@ -6,6 +6,7 @@ import com.sun.j3d.utils.image.ImageException; import com.sun.j3d.utils.image.TextureLoader; import com.sun.j3d.utils.universe.SimpleUniverse; +import me.drton.jmavsim.vehicle.AbstractVehicle; import javax.imageio.ImageIO; import javax.media.j3d.*; @@ -66,6 +67,7 @@ public static enum ZoomModes { ZOOM_NONE, ZOOM_DYNAMIC, ZOOM_FIXED } private final World world; + private AbstractVehicle vehicle = null; private double currentFOV = defaultFOV; private float dynZoomDistance = defaultDZDistance; private ViewTypes viewType; @@ -85,6 +87,7 @@ public static enum ZoomModes { ZOOM_NONE, ZOOM_DYNAMIC, ZOOM_FIXED } private MAVLinkHILSystem hilSystem; private JSplitPane splitPane; private ReportPanel reportPanel; + private SensorControlDialog sensorControlDialog; private KeyboardHandler keyHandler; private OutputStream outputStream; // for receiving system output messages private MessageOutputStream msgOutputStream; // for logging messages @@ -125,6 +128,11 @@ public Visualizer3D(World world) { reportPanel.setPreferredSize(reportPanelSize); splitPane.setLeftComponent(reportPanel); + // Sensor Parameter Control Dialog + sensorControlDialog = new SensorControlDialog(this); + sensorControlDialog.setSize(500,500); + sensorControlDialog.setVisible(false); + // 3D graphics canvas GraphicsConfiguration gc = SimpleUniverse.getPreferredConfiguration(); if (showOverlay) @@ -398,6 +406,10 @@ public void setVehicleViewObject(KinematicObject object) { // rose.setBaseObject(object); } + public void setVehicle(AbstractVehicle vehicle) { + this.vehicle = vehicle; + } + /** * Set the "gimbal" object to use for switching views. * @@ -456,6 +468,21 @@ public void toggleReportPanel(boolean on) { splitPane.resetToPreferredSizes(); revalidate(); } + + public void toggleSensorControlDialog() { + if (this.sensorControlDialog == null || this.vehicle == null) { + return; + } + else if (this.sensorControlDialog.isShowing()) { + sensorControlDialog.setSensor(this.vehicle.getSensors()); + this.sensorControlDialog.setVisible(false); + } + else { + sensorControlDialog.setSensor(this.vehicle.getSensors()); + this.sensorControlDialog.setVisible(true); + } + + } public void toggleReportPanel() { this.toggleReportPanel(!reportPanel.isShowing()); @@ -1004,6 +1031,10 @@ public void keyReleased(KeyEvent e) { case KeyEvent.VK_R : toggleReportPanel(); break; + + case KeyEvent.VK_D : + toggleSensorControlDialog(); + break; // pause/start report updates case KeyEvent.VK_T : From 54007dcfac7bb658a00566ce2215e066a4173c54 Mon Sep 17 00:00:00 2001 From: stmoon Date: Sun, 24 Dec 2017 10:13:39 +0900 Subject: [PATCH 03/11] implement setParameter dummy function for LogPlayerSensors --- src/me/drton/jmavsim/LogPlayerSensors.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/me/drton/jmavsim/LogPlayerSensors.java b/src/me/drton/jmavsim/LogPlayerSensors.java index 54c63c4c..5eb01eb2 100644 --- a/src/me/drton/jmavsim/LogPlayerSensors.java +++ b/src/me/drton/jmavsim/LogPlayerSensors.java @@ -154,5 +154,7 @@ public void setReset(boolean reset) { this.reset = reset; } + @Override + public void setParameter(String name, float value) {} } From 69ec882df10c40aac9308640ba08230f20dc1d1d Mon Sep 17 00:00:00 2001 From: stmoon Date: Sun, 24 Dec 2017 17:09:12 +0900 Subject: [PATCH 04/11] implement sensor control parameter dialog --- jMAVSim.ipr | 17 ++-- src/me/drton/jmavsim/LogPlayerSensors.java | 5 + src/me/drton/jmavsim/SensorControlDialog.java | 75 --------------- src/me/drton/jmavsim/SensorParamDlg.form | 93 ++++++++++++++++++ src/me/drton/jmavsim/SensorParamDlg.java | 95 +++++++++++++++++++ src/me/drton/jmavsim/Sensors.java | 2 + src/me/drton/jmavsim/SimpleSensors.java | 47 +++++++-- src/me/drton/jmavsim/Visualizer3D.java | 20 ++-- 8 files changed, 251 insertions(+), 103 deletions(-) delete mode 100644 src/me/drton/jmavsim/SensorControlDialog.java create mode 100644 src/me/drton/jmavsim/SensorParamDlg.form create mode 100644 src/me/drton/jmavsim/SensorParamDlg.java diff --git a/jMAVSim.ipr b/jMAVSim.ipr index b267954f..c05c8b1e 100644 --- a/jMAVSim.ipr +++ b/jMAVSim.ipr @@ -21,8 +21,6 @@ - - - + + + + @@ -175,11 +171,10 @@ - + - diff --git a/src/me/drton/jmavsim/LogPlayerSensors.java b/src/me/drton/jmavsim/LogPlayerSensors.java index 5eb01eb2..cbfb7633 100644 --- a/src/me/drton/jmavsim/LogPlayerSensors.java +++ b/src/me/drton/jmavsim/LogPlayerSensors.java @@ -157,4 +157,9 @@ public void setReset(boolean reset) { @Override public void setParameter(String name, float value) {} + @Override + public float param(String name) { + return 0.0f; + } + } diff --git a/src/me/drton/jmavsim/SensorControlDialog.java b/src/me/drton/jmavsim/SensorControlDialog.java deleted file mode 100644 index 949b7109..00000000 --- a/src/me/drton/jmavsim/SensorControlDialog.java +++ /dev/null @@ -1,75 +0,0 @@ -package me.drton.jmavsim; - -import java.awt.*; -import java.awt.event.*; -import javax.swing.*; - - -import java.awt.*; - -public class SensorControlDialog extends JDialog implements ActionListener { - - protected Sensors sensors = null; - - - private JTextField gpsNoiseText = new JTextField(10); - private JButton gpsNoiseButton = new JButton("GPSNoiseStdDev"); - - - private JTextField gyroNoiseText = new JTextField(10); - private JButton gyroNoiseButton = new JButton("GyroNoise"); - - - public SensorControlDialog(JFrame frame) { - super(frame, "Sensor Control Dialog"); - - setLayout(new GridLayout(3,2)); - - Panel gpsPanel = new Panel(); - gpsPanel.setLayout(new FlowLayout()); - gpsPanel.add(new JLabel("GPSNoise")); - gpsPanel.add(gpsNoiseText); - gpsPanel.add(gpsNoiseButton); - - Panel gyroPanel = new Panel(); - gyroPanel.setLayout(new FlowLayout()); - gyroPanel.add(new JLabel("GyroNoise")); - gyroPanel.add(gyroNoiseText); - gyroPanel.add(gyroNoiseButton); - - - add(gpsPanel); - add(gyroPanel); - - this.gpsNoiseButton.addActionListener(this); - this.gyroNoiseButton.addActionListener(this); - - - } - - public void setSensor(Sensors sensors) { - this.sensors = sensors; - } - - @Override - public void actionPerformed(ActionEvent e) { - float value = 0.0f; - String str = e.getActionCommand(); - - if (str == "GPSNoiseStdDev") { - value = Float.parseFloat(gpsNoiseText.getText()); - sensors.setParameter(str, value); - } - else if (str == "GyroNoise") { - value = Float.parseFloat(gyroNoiseText.getText()); - sensors.setParameter(str, value); - } - - System.out.printf("%s, %f\n", str, value); - } - - - - - -} diff --git a/src/me/drton/jmavsim/SensorParamDlg.form b/src/me/drton/jmavsim/SensorParamDlg.form new file mode 100644 index 00000000..32c5e61a --- /dev/null +++ b/src/me/drton/jmavsim/SensorParamDlg.form @@ -0,0 +1,93 @@ + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
diff --git a/src/me/drton/jmavsim/SensorParamDlg.java b/src/me/drton/jmavsim/SensorParamDlg.java new file mode 100644 index 00000000..abf24455 --- /dev/null +++ b/src/me/drton/jmavsim/SensorParamDlg.java @@ -0,0 +1,95 @@ +package me.drton.jmavsim; + +import javax.swing.*; +import javax.swing.SpinnerNumberModel; +import javax.swing.event.ChangeEvent; +import javax.swing.event.ChangeListener; + +/** + * @file SensorParamDlg.cpp + * Sensor Control Parameter Dlalog + * + * The dialog is used for the sensor test and analysis + * + * @author SungTae Moon + */ + + +public class SensorParamDlg extends JDialog { + private JPanel contentPane; + private JSpinner accelSpinner; + private JSpinner gyroSpinner; + private JSpinner gpsSpinner; + private JSpinner magSpinner; + private JSpinner presSpinner; + private JButton buttonOK; + + protected Sensors sensors = null; + + + public SensorParamDlg() { + setContentPane(contentPane); + setModal(true); + getRootPane().setDefaultButton(buttonOK); + + accelSpinner.setModel(new SpinnerNumberModel(0.0f, 0.0f, 1.0f, 0.01f)); + gyroSpinner.setModel(new SpinnerNumberModel(0.0f, 0.0f, 1.0f, 0.01f)); + gpsSpinner.setModel(new SpinnerNumberModel(0.0f, 0.0f, 100.0f, 1.0f)); + magSpinner.setModel(new SpinnerNumberModel(0.0f, 0.0f, 1.0f, 0.001f)); + presSpinner.setModel(new SpinnerNumberModel(0.0f, 0.0f, 1.0f, 0.01f)); + + + accelSpinner.addChangeListener(new ChangeListener() { + @Override + public void stateChanged(ChangeEvent e) { + Double value = (Double)accelSpinner.getValue(); + sensors.setParameter("noise_Acc", value.floatValue()); + } + }); + + gyroSpinner.addChangeListener(new ChangeListener() { + @Override + public void stateChanged(ChangeEvent e) { + Double value = (Double)gyroSpinner.getValue(); + sensors.setParameter("noise_Gyo", value.floatValue()); + } + }); + + magSpinner.addChangeListener(new ChangeListener() { + @Override + public void stateChanged(ChangeEvent e) { + Double value = (Double)magSpinner.getValue(); + sensors.setParameter("noise_Mag", value.floatValue()); + } + }); + + presSpinner.addChangeListener(new ChangeListener() { + @Override + public void stateChanged(ChangeEvent e) { + Double value = (Double)presSpinner.getValue(); + sensors.setParameter("noise_Prs", value.floatValue()); + } + }); + + gpsSpinner.addChangeListener(new ChangeListener() { + @Override + public void stateChanged(ChangeEvent e) { + Double value = (Double)gpsSpinner.getValue(); + sensors.setParameter("gpsNoiseStdDev", value.floatValue()); + } + }); + } + + public void setSensor(Sensors sensors) { + this.sensors = sensors; + + // init value + accelSpinner.setValue(new Double(sensors.param("noise_Acc"))); + gyroSpinner.setValue(new Double(sensors.param("noise_Gyo"))); + magSpinner.setValue(new Double(sensors.param("noise_Mag"))); + presSpinner.setValue(new Double(sensors.param("noise_Prs"))); + gpsSpinner.setValue(new Double(sensors.param("gpsNoiseStdDev"))); + + } + +} diff --git a/src/me/drton/jmavsim/Sensors.java b/src/me/drton/jmavsim/Sensors.java index ce327635..6e457c60 100644 --- a/src/me/drton/jmavsim/Sensors.java +++ b/src/me/drton/jmavsim/Sensors.java @@ -38,4 +38,6 @@ public interface Sensors { void setParameter(String name, float value); + float param(String name); + } diff --git a/src/me/drton/jmavsim/SimpleSensors.java b/src/me/drton/jmavsim/SimpleSensors.java index 51436f56..171c17c5 100644 --- a/src/me/drton/jmavsim/SimpleSensors.java +++ b/src/me/drton/jmavsim/SimpleSensors.java @@ -224,17 +224,50 @@ public void update(long t) { @Override public void setParameter(String name, float value) { - // TODO : implement the set parameters - if ( name == "GPSNoiseStdDev" ) { - this.gpsNoiseStdDev = value; + if ( name == "noise_Acc" ) { + noise_Acc = value; } - else if ( name == "GyroNoise" ) { - this.setNoise_Gyo(value); + else if ( name == "noise_Gyo" ) { + noise_Gyo = value; + } + else if ( name == "noise_Mag" ) { + noise_Mag = value; + } + else if ( name == "noise_Prs" ) { + noise_Prs = value; + } + else if ( name == "gpsNoiseStdDev" ) { + gpsNoiseStdDev = value; + } + else { + System.out.printf("ERROR: unknown param"); + } + } + @Override + public float param(String name) { + if ( name == "noise_Acc" ) { + return noise_Acc; + } + else if ( name == "noise_Gyo" ) { + return noise_Gyo; } + else if ( name == "noise_Mag" ) { + return noise_Mag; + } + else if ( name == "noise_Prs" ) { + return noise_Prs; + } + else if ( name == "gpsNoiseStdDev" ) { + return gpsNoiseStdDev; + } + else { + System.out.printf("ERROR: unknown param"); + } + + return 0.0f; } - - + // Utility methods public double randomNoise(float stdDev) { diff --git a/src/me/drton/jmavsim/Visualizer3D.java b/src/me/drton/jmavsim/Visualizer3D.java index 47f9d764..75d1b9e9 100644 --- a/src/me/drton/jmavsim/Visualizer3D.java +++ b/src/me/drton/jmavsim/Visualizer3D.java @@ -87,7 +87,7 @@ public static enum ZoomModes { ZOOM_NONE, ZOOM_DYNAMIC, ZOOM_FIXED } private MAVLinkHILSystem hilSystem; private JSplitPane splitPane; private ReportPanel reportPanel; - private SensorControlDialog sensorControlDialog; + private SensorParamDlg sensorParamDlg; private KeyboardHandler keyHandler; private OutputStream outputStream; // for receiving system output messages private MessageOutputStream msgOutputStream; // for logging messages @@ -129,9 +129,9 @@ public Visualizer3D(World world) { splitPane.setLeftComponent(reportPanel); // Sensor Parameter Control Dialog - sensorControlDialog = new SensorControlDialog(this); - sensorControlDialog.setSize(500,500); - sensorControlDialog.setVisible(false); + sensorParamDlg = new SensorParamDlg(); + sensorParamDlg.setSize(400,300); + sensorParamDlg.setVisible(false); // 3D graphics canvas GraphicsConfiguration gc = SimpleUniverse.getPreferredConfiguration(); @@ -470,16 +470,16 @@ public void toggleReportPanel(boolean on) { } public void toggleSensorControlDialog() { - if (this.sensorControlDialog == null || this.vehicle == null) { + if (sensorParamDlg == null || vehicle == null) { return; } - else if (this.sensorControlDialog.isShowing()) { - sensorControlDialog.setSensor(this.vehicle.getSensors()); - this.sensorControlDialog.setVisible(false); + else if (this.sensorParamDlg.isShowing()) { + sensorParamDlg.setSensor(this.vehicle.getSensors()); + sensorParamDlg.setVisible(false); } else { - sensorControlDialog.setSensor(this.vehicle.getSensors()); - this.sensorControlDialog.setVisible(true); + sensorParamDlg.setSensor(this.vehicle.getSensors()); + sensorParamDlg.setVisible(true); } } From 770d51a509ee88400889ea3943b6d322ee4fb1e4 Mon Sep 17 00:00:00 2001 From: stmoon Date: Mon, 25 Dec 2017 20:50:42 +0900 Subject: [PATCH 05/11] integrate sensorParamPanel with the UI of jMAVSim --- src/me/drton/jmavsim/SensorParamDlg.form | 93 ------------------- src/me/drton/jmavsim/SensorParamPanel.form | 83 +++++++++++++++++ ...sorParamDlg.java => SensorParamPanel.java} | 27 +++--- src/me/drton/jmavsim/Visualizer3D.java | 42 ++++++--- 4 files changed, 126 insertions(+), 119 deletions(-) delete mode 100644 src/me/drton/jmavsim/SensorParamDlg.form create mode 100644 src/me/drton/jmavsim/SensorParamPanel.form rename src/me/drton/jmavsim/{SensorParamDlg.java => SensorParamPanel.java} (87%) diff --git a/src/me/drton/jmavsim/SensorParamDlg.form b/src/me/drton/jmavsim/SensorParamDlg.form deleted file mode 100644 index 32c5e61a..00000000 --- a/src/me/drton/jmavsim/SensorParamDlg.form +++ /dev/null @@ -1,93 +0,0 @@ - -
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
diff --git a/src/me/drton/jmavsim/SensorParamPanel.form b/src/me/drton/jmavsim/SensorParamPanel.form new file mode 100644 index 00000000..4abd61d8 --- /dev/null +++ b/src/me/drton/jmavsim/SensorParamPanel.form @@ -0,0 +1,83 @@ + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
diff --git a/src/me/drton/jmavsim/SensorParamDlg.java b/src/me/drton/jmavsim/SensorParamPanel.java similarity index 87% rename from src/me/drton/jmavsim/SensorParamDlg.java rename to src/me/drton/jmavsim/SensorParamPanel.java index abf24455..13167f19 100644 --- a/src/me/drton/jmavsim/SensorParamDlg.java +++ b/src/me/drton/jmavsim/SensorParamPanel.java @@ -1,36 +1,31 @@ package me.drton.jmavsim; import javax.swing.*; -import javax.swing.SpinnerNumberModel; import javax.swing.event.ChangeEvent; import javax.swing.event.ChangeListener; /** - * @file SensorParamDlg.cpp - * Sensor Control Parameter Dlalog + * @file SensorParamPanel.java + * Sensor Control Parameter Panel * - * The dialog is used for the sensor test and analysis + * This panel is used for the sensor test and analysis * * @author SungTae Moon */ - -public class SensorParamDlg extends JDialog { - private JPanel contentPane; +public class SensorParamPanel extends JPanel { private JSpinner accelSpinner; private JSpinner gyroSpinner; - private JSpinner gpsSpinner; + private JPanel mainPanel; private JSpinner magSpinner; private JSpinner presSpinner; - private JButton buttonOK; + private JSpinner gpsSpinner; protected Sensors sensors = null; + public SensorParamPanel() { - public SensorParamDlg() { - setContentPane(contentPane); - setModal(true); - getRootPane().setDefaultButton(buttonOK); + this.add(mainPanel); accelSpinner.setModel(new SpinnerNumberModel(0.0f, 0.0f, 1.0f, 0.01f)); gyroSpinner.setModel(new SpinnerNumberModel(0.0f, 0.0f, 1.0f, 0.01f)); @@ -38,7 +33,6 @@ public SensorParamDlg() { magSpinner.setModel(new SpinnerNumberModel(0.0f, 0.0f, 1.0f, 0.001f)); presSpinner.setModel(new SpinnerNumberModel(0.0f, 0.0f, 1.0f, 0.01f)); - accelSpinner.addChangeListener(new ChangeListener() { @Override public void stateChanged(ChangeEvent e) { @@ -78,6 +72,11 @@ public void stateChanged(ChangeEvent e) { sensors.setParameter("gpsNoiseStdDev", value.floatValue()); } }); + + } + + public JPanel panel() { + return mainPanel; } public void setSensor(Sensors sensors) { diff --git a/src/me/drton/jmavsim/Visualizer3D.java b/src/me/drton/jmavsim/Visualizer3D.java index 75d1b9e9..e83dec8a 100644 --- a/src/me/drton/jmavsim/Visualizer3D.java +++ b/src/me/drton/jmavsim/Visualizer3D.java @@ -55,6 +55,7 @@ public static enum ZoomModes { ZOOM_NONE, ZOOM_DYNAMIC, ZOOM_FIXED } public static final int FPS_TARGET = 60; // target frames per second private Dimension reportPanelSize = new Dimension(Math.min(WINDOW_SIZE.width / 2, 350), 200); + private Dimension sensorParamPanelSize = new Dimension(Math.min(WINDOW_SIZE.width / 2, 250), 200); private boolean reportPaused = false; private int overlaySize = 260; // width & height of compass overlay window @@ -87,7 +88,8 @@ public static enum ZoomModes { ZOOM_NONE, ZOOM_DYNAMIC, ZOOM_FIXED } private MAVLinkHILSystem hilSystem; private JSplitPane splitPane; private ReportPanel reportPanel; - private SensorParamDlg sensorParamDlg; + private JSplitPane propertySplitPane; + private SensorParamPanel sensorParamPanel; private KeyboardHandler keyHandler; private OutputStream outputStream; // for receiving system output messages private MessageOutputStream msgOutputStream; // for logging messages @@ -120,7 +122,15 @@ public Visualizer3D(World world) { splitPane.setOneTouchExpandable(false); splitPane.setContinuousLayout(true); splitPane.setFocusable(false); - getContentPane().add(splitPane); + + propertySplitPane = new JSplitPane(JSplitPane.HORIZONTAL_SPLIT); + propertySplitPane.setOneTouchExpandable(false); + propertySplitPane.setContinuousLayout(true); + propertySplitPane.setFocusable(false); + propertySplitPane.setRightComponent(splitPane); + propertySplitPane.setDividerSize(0); + + getContentPane().add(propertySplitPane); reportPanel = new ReportPanel(); reportPanel.setFocusable(false); @@ -128,10 +138,13 @@ public Visualizer3D(World world) { reportPanel.setPreferredSize(reportPanelSize); splitPane.setLeftComponent(reportPanel); - // Sensor Parameter Control Dialog - sensorParamDlg = new SensorParamDlg(); - sensorParamDlg.setSize(400,300); - sensorParamDlg.setVisible(false); + // Sensor Parameter Control Panel + sensorParamPanel = new SensorParamPanel(); + sensorParamPanel.setFocusable(false); + sensorParamPanel.setMinimumSize(new Dimension(50, 0)); + sensorParamPanel.setPreferredSize(sensorParamPanelSize); + propertySplitPane.setLeftComponent(sensorParamPanel); + sensorParamPanel.setVisible(false); // 3D graphics canvas GraphicsConfiguration gc = SimpleUniverse.getPreferredConfiguration(); @@ -470,18 +483,23 @@ public void toggleReportPanel(boolean on) { } public void toggleSensorControlDialog() { - if (sensorParamDlg == null || vehicle == null) { + if (sensorParamPanel == null || vehicle == null) { return; } - else if (this.sensorParamDlg.isShowing()) { - sensorParamDlg.setSensor(this.vehicle.getSensors()); - sensorParamDlg.setVisible(false); + else if (this.sensorParamPanel.isShowing()) { + sensorParamPanel.setSensor(this.vehicle.getSensors()); + sensorParamPanel.setVisible(false); + propertySplitPane.setLeftComponent(null); + propertySplitPane.setDividerSize(0); } else { - sensorParamDlg.setSensor(this.vehicle.getSensors()); - sensorParamDlg.setVisible(true); + sensorParamPanel.setSensor(this.vehicle.getSensors()); + sensorParamPanel.setVisible(true); + propertySplitPane.setLeftComponent(sensorParamPanel); } + propertySplitPane.resetToPreferredSizes(); + revalidate(); } public void toggleReportPanel() { From 053bfb79a3bb872d4bf6157610505540349782ab Mon Sep 17 00:00:00 2001 From: stmoon Date: Thu, 28 Dec 2017 17:41:55 +0900 Subject: [PATCH 06/11] change compiler to use intellij form --- build.xml | 15 +++++++++++++-- lib/asm4-all.jar | Bin 0 -> 146801 bytes lib/forms_rt.jar | Bin 0 -> 341947 bytes lib/javac2.jar | Bin 0 -> 424409 bytes lib/jdom.jar | Bin 0 -> 153172 bytes 5 files changed, 13 insertions(+), 2 deletions(-) create mode 100644 lib/asm4-all.jar create mode 100644 lib/forms_rt.jar create mode 100644 lib/javac2.jar create mode 100644 lib/jdom.jar diff --git a/build.xml b/build.xml index dbad1540..e3fe9714 100644 --- a/build.xml +++ b/build.xml @@ -21,12 +21,22 @@ + + + + + + + + + + - + - + @@ -55,6 +65,7 @@ + diff --git a/lib/asm4-all.jar b/lib/asm4-all.jar new file mode 100644 index 0000000000000000000000000000000000000000..df4270b99daad029c9954f1520834c8b395e709f GIT binary patch literal 146801 zcmafab98Udmt}0{6Wg|J+qP}nwr$(CZQFTyNnVT>&G$Fc(>*;sxa-z``>eayIrpsE zRkce|1{4ei2nY%YC^Obu2 zxb;5+@Xz>nsGN|zl(?9RD!rWequlI_tPCCf61)r@_5AEYi!$RX%i)>xtO$w|t)%R{ zq#95(Fd5xbtY=qlj54Z>vWjaSwb0ev6WnoJtXm44EE;RD%p<^;B_-w|h9*Wv*(C;z z_c8gI)vL?1>)-kOSL$H@P)_)o0=D+=M?P}XLy#?D4o_AdV)JnDbJ8@brA{-+=) zAYu=1p{+^TsVZO~pbStTAnJco^Dip@@sa-?BxG;z;A-S*C<70%dp+`6hd-RqU=QKF0iJeVozd4_oV@kI~*>9C6MM# zDODFE(>k4%?SCxTIlcLM2OmV34o&{eR;NDF;4|#boqpNsQD-vYR%2 z$*7jBd$=1#eucZH0~^C1n@U((cL%H*39v*~tC4bvhXjFWH}R4HRjov|0adOfb*^3i 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zEds;^lE7b-EMKaRmw3R6{M+lW%Sq&~j>#L~%;VxfLdnS z_4=H?oC*1V=X~czGuU^Dcy7bL?$zbQmRuKoItLgJUjqE^pzz%A{**rXx`dZA^<8b? z^W@(e_+_@t>kVAa#{>-bMal9to%u@xzgEfRG&EONp)ZTS1^!4q^It~k%SoNC3w${v z$5oB+eft~#T>H}3Q`=l`;BtKTs~U+||4ReE*2v`m!E_f2J~xsVz_rzd-Tu!=eibDC zx|ElL$g*C6mL2~U`j;L2axk;28kqfliT(SawAY2b{BS(r{alnR-zo%{|7qZAM6~OW z%g^&(JvObTxdi#!Q}x%emmi+G>P5)_Uiro7T*v-;s4qXfa@DKlX8#HHo2Rd?3wZe+ g)Kz~9n(Noh|73#$yeHs68sMh{s2I) Date: Thu, 28 Dec 2017 17:48:55 +0900 Subject: [PATCH 07/11] use equals function instead '==' --- src/me/drton/jmavsim/SimpleSensors.java | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/src/me/drton/jmavsim/SimpleSensors.java b/src/me/drton/jmavsim/SimpleSensors.java index 171c17c5..62cd6255 100644 --- a/src/me/drton/jmavsim/SimpleSensors.java +++ b/src/me/drton/jmavsim/SimpleSensors.java @@ -224,19 +224,19 @@ public void update(long t) { @Override public void setParameter(String name, float value) { - if ( name == "noise_Acc" ) { + if ( name.equals("noise_Acc") ) { noise_Acc = value; } - else if ( name == "noise_Gyo" ) { + else if ( name.equals("noise_Gyo") ) { noise_Gyo = value; } - else if ( name == "noise_Mag" ) { + else if ( name.equals("noise_Mag") ) { noise_Mag = value; } - else if ( name == "noise_Prs" ) { + else if ( name.equals("noise_Prs") ) { noise_Prs = value; } - else if ( name == "gpsNoiseStdDev" ) { + else if ( name.equals("gpsNoiseStdDev") ) { gpsNoiseStdDev = value; } else { @@ -246,19 +246,19 @@ else if ( name == "gpsNoiseStdDev" ) { @Override public float param(String name) { - if ( name == "noise_Acc" ) { + if ( name.equals("noise_Acc") ) { return noise_Acc; } - else if ( name == "noise_Gyo" ) { + else if ( name.equals("noise_Gyo") ) { return noise_Gyo; } - else if ( name == "noise_Mag" ) { + else if ( name.equals("noise_Mag") ) { return noise_Mag; } - else if ( name == "noise_Prs" ) { + else if ( name.equals("noise_Prs") ) { return noise_Prs; } - else if ( name == "gpsNoiseStdDev" ) { + else if ( name.equals("gpsNoiseStdDev") ) { return gpsNoiseStdDev; } else { From c973d88b9837210d958260d20c0ef79cb7f03e81 Mon Sep 17 00:00:00 2001 From: stmoon Date: Thu, 28 Dec 2017 18:41:54 +0900 Subject: [PATCH 08/11] describe key command in README --- README.md | 45 +++++++++++++++++++++++++++++++++++++++++++-- 1 file changed, 43 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index a61e58fe..80248dcc 100644 --- a/README.md +++ b/README.md @@ -11,7 +11,7 @@ Requirements: * Java 7 or newer (JDK, http://www.oracle.com/technetwork/java/javase/downloads/index.html) * Java3D and JOGL/JOAL jars, including native libs for Linux (i586/64bit), Windows (i586/64bit) and Mac OS (universal) already included in this repository, no need to install it. - + * libvecmath-java (for ubuntu) Clone repository and initialize submodules: @@ -65,6 +65,47 @@ On **Windows** use `;` instead of `:` in -cp: java -cp lib/*;out/production/jmavsim.jar me.drton.jmavsim.Simulator ``` +#### Key command #### + +Views: + F - First-person-view camera. + S - Stationary ground camera. + G - Gimbal camera. + Z - Toggle auto-zoom for Stationary camera. + +/- - Zoom in/out + 0/ENTER - Reset zoom to default. + +Actions: + Q - Disable sim on MAV. + I - Enable sim on MAV. + H - Toggle HUD overlay. + C - Clear all messages on HUD. + R - Toggle data report sidebar. + T - Toggle data report updates. + D - Toggle sensor parameter control sidebar. + F1 - Show this key commands reference. + ESC - Exit jMAVSim. + SPACE - Reset vehicle & view to start position. + +Manipulate Vehicle: + ARROW KEYS - Rotate around pitch/roll. + END/PG-DN - Rotate CCW/CW around yaw. + SHIFT + ARROWS - Move N/S/E/W. + SHIFT + INS/DEL - Move Up/Down. + NUMPAD 8/2/4/6 - Start/increase rotation rate around pitch/roll axis. + NUMPAD 1/3 - Start/increase rotation rate around yaw axis. + NUMPAD 5 - Stop all rotation. + CTRL + NUMPAD 5 - Reset vehicle attitude, velocity, & accelleration. + +Manipulate Environment: + ALT + + ARROW KEYS - Increase wind deviation in N/S/E/W direction. + INS/DEL - Increase wind deviation in Up/Down direction. + NUMPAD 8/2/4/6 - Increase wind speed in N/S/E/W direction. + NUMPAD 7/1 - Increase wind speed in Up/Down direction. + NUMPAD 5 - Stop all wind and deviations. + + CTRL+ Manipulate - Rotate/move/increase at a higher/faster rate. ### Troubleshooting ### @@ -133,7 +174,7 @@ AbstractMulticopter vehicle = new Quadcopter(world, "models/3dr_arducopter_quad_ Custom MAVLink protocols can be used, no any recompilation needed, just specify XML file instead of `custom.xml` here: ``` -MAVLinkSchema schema = new MAVLinkSchema("mavlink/message_definitions/common.xml"); +MAVLinkSchema schema = new MAVLinkSchema("mavlink/message_definitions/common.xml ``` It's convinient to start the simulator from IDE. Free and powerful "IntelliJ IDEA" IDE recommended, project files for it are already included, just open project file `jMAVSim.ipr` and right-click -> Run `Simulator`. From ade1699e0953f3172aa56c884927e6efaa89133e Mon Sep 17 00:00:00 2001 From: stmoon Date: Thu, 28 Dec 2017 18:58:56 +0900 Subject: [PATCH 09/11] join the ways to get vehicle object together --- src/me/drton/jmavsim/Simulator.java | 2 +- src/me/drton/jmavsim/Visualizer3D.java | 17 +++++------------ 2 files changed, 6 insertions(+), 13 deletions(-) diff --git a/src/me/drton/jmavsim/Simulator.java b/src/me/drton/jmavsim/Simulator.java index be0b26dc..a95b361e 100644 --- a/src/me/drton/jmavsim/Simulator.java +++ b/src/me/drton/jmavsim/Simulator.java @@ -247,7 +247,6 @@ else if (DEFAULT_MAG_FIELD.y == 0.0f && (DEFAULT_MAG_FIELD.x != 0.0 || DEFAULT_M visualizer.addWorldModels(); visualizer.setHilSystem(hilSystem); visualizer.setVehicleViewObject(vehicle); - visualizer.setVehicle(vehicle); // set default view and zoom mode visualizer.setViewType(GUI_START_VIEW); @@ -703,6 +702,7 @@ public static void printKeyCommands() { System.out.println(" C - Clear all messages on HUD."); System.out.println(" R - Toggle data report sidebar."); System.out.println(" T - Toggle data report updates."); + System.out.println(" D - Toggle sensor parameter control sidebar."); System.out.println(" F1 - Show this key commands reference."); System.out.println(" ESC - Exit jMAVSim."); System.out.println(" SPACE - Reset vehicle & view to start position."); diff --git a/src/me/drton/jmavsim/Visualizer3D.java b/src/me/drton/jmavsim/Visualizer3D.java index e83dec8a..f3629df2 100644 --- a/src/me/drton/jmavsim/Visualizer3D.java +++ b/src/me/drton/jmavsim/Visualizer3D.java @@ -68,7 +68,6 @@ public static enum ZoomModes { ZOOM_NONE, ZOOM_DYNAMIC, ZOOM_FIXED } private final World world; - private AbstractVehicle vehicle = null; private double currentFOV = defaultFOV; private float dynZoomDistance = defaultDZDistance; private ViewTypes viewType; @@ -83,7 +82,7 @@ public static enum ZoomModes { ZOOM_NONE, ZOOM_DYNAMIC, ZOOM_FIXED } private TransformGroup viewerTransformGroup; private KinematicObject viewerTargetObject; private KinematicObject viewerPositionObject; - private KinematicObject vehicleViewObject; + private AbstractVehicle vehicleViewObject; private KinematicObject gimbalViewObject; private MAVLinkHILSystem hilSystem; private JSplitPane splitPane; @@ -413,14 +412,8 @@ public void setViewerPositionOffset(Vector3d offset) { * * @param object */ - public void setVehicleViewObject(KinematicObject object) { + public void setVehicleViewObject(AbstractVehicle object) { this.vehicleViewObject = object; -// if (rose != null) -// rose.setBaseObject(object); - } - - public void setVehicle(AbstractVehicle vehicle) { - this.vehicle = vehicle; } /** @@ -483,17 +476,17 @@ public void toggleReportPanel(boolean on) { } public void toggleSensorControlDialog() { - if (sensorParamPanel == null || vehicle == null) { + if (sensorParamPanel == null || vehicleViewObject == null) { return; } else if (this.sensorParamPanel.isShowing()) { - sensorParamPanel.setSensor(this.vehicle.getSensors()); + sensorParamPanel.setSensor(vehicleViewObject.getSensors()); sensorParamPanel.setVisible(false); propertySplitPane.setLeftComponent(null); propertySplitPane.setDividerSize(0); } else { - sensorParamPanel.setSensor(this.vehicle.getSensors()); + sensorParamPanel.setSensor(vehicleViewObject.getSensors()); sensorParamPanel.setVisible(true); propertySplitPane.setLeftComponent(sensorParamPanel); } From ad36eab048898ada732a0fac4f28a48732b5f67f Mon Sep 17 00:00:00 2001 From: stmoon Date: Sun, 31 Dec 2017 09:34:44 +0900 Subject: [PATCH 10/11] add vehicle mass in the parameter panel --- src/me/drton/jmavsim/SensorParamPanel.form | 52 +++++++++++++++++----- src/me/drton/jmavsim/SensorParamPanel.java | 11 +++++ src/me/drton/jmavsim/SimpleSensors.java | 6 +++ 3 files changed, 58 insertions(+), 11 deletions(-) diff --git a/src/me/drton/jmavsim/SensorParamPanel.form b/src/me/drton/jmavsim/SensorParamPanel.form index 4abd61d8..e06c77dc 100644 --- a/src/me/drton/jmavsim/SensorParamPanel.form +++ b/src/me/drton/jmavsim/SensorParamPanel.form @@ -1,6 +1,6 @@

- + @@ -10,7 +10,7 @@ - + @@ -18,13 +18,13 @@ - + - + @@ -32,13 +32,13 @@ - + - + @@ -46,7 +46,7 @@ - + @@ -54,7 +54,7 @@ - + @@ -62,22 +62,52 @@ - + - + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/me/drton/jmavsim/SensorParamPanel.java b/src/me/drton/jmavsim/SensorParamPanel.java index 13167f19..972d9644 100644 --- a/src/me/drton/jmavsim/SensorParamPanel.java +++ b/src/me/drton/jmavsim/SensorParamPanel.java @@ -20,6 +20,7 @@ public class SensorParamPanel extends JPanel { private JSpinner magSpinner; private JSpinner presSpinner; private JSpinner gpsSpinner; + private JSpinner massSpinner; protected Sensors sensors = null; @@ -32,6 +33,7 @@ public SensorParamPanel() { gpsSpinner.setModel(new SpinnerNumberModel(0.0f, 0.0f, 100.0f, 1.0f)); magSpinner.setModel(new SpinnerNumberModel(0.0f, 0.0f, 1.0f, 0.001f)); presSpinner.setModel(new SpinnerNumberModel(0.0f, 0.0f, 1.0f, 0.01f)); + massSpinner.setModel(new SpinnerNumberModel(0.0f, 0.0f, 5.0f, 0.1f)); accelSpinner.addChangeListener(new ChangeListener() { @Override @@ -73,6 +75,14 @@ public void stateChanged(ChangeEvent e) { } }); + massSpinner.addChangeListener(new ChangeListener() { + @Override + public void stateChanged(ChangeEvent e) { + Double value = (Double)massSpinner.getValue(); + sensors.setParameter("mass", value.floatValue()); + } + }); + } public JPanel panel() { @@ -88,6 +98,7 @@ public void setSensor(Sensors sensors) { magSpinner.setValue(new Double(sensors.param("noise_Mag"))); presSpinner.setValue(new Double(sensors.param("noise_Prs"))); gpsSpinner.setValue(new Double(sensors.param("gpsNoiseStdDev"))); + massSpinner.setValue(new Double(sensors.param("mass"))); } diff --git a/src/me/drton/jmavsim/SimpleSensors.java b/src/me/drton/jmavsim/SimpleSensors.java index 62cd6255..cf68144a 100644 --- a/src/me/drton/jmavsim/SimpleSensors.java +++ b/src/me/drton/jmavsim/SimpleSensors.java @@ -239,6 +239,9 @@ else if ( name.equals("noise_Prs") ) { else if ( name.equals("gpsNoiseStdDev") ) { gpsNoiseStdDev = value; } + else if ( name.equals("mass")) { + object.setMass((double)value); + } else { System.out.printf("ERROR: unknown param"); } @@ -261,6 +264,9 @@ else if ( name.equals("noise_Prs") ) { else if ( name.equals("gpsNoiseStdDev") ) { return gpsNoiseStdDev; } + else if ( name.equals("mass") ) { + return (float)object.getMass(); + } else { System.out.printf("ERROR: unknown param"); } From 9ba65afc6e644e048b28bc82f76b182b63c68a43 Mon Sep 17 00:00:00 2001 From: stmoon Date: Mon, 8 Jan 2018 22:46:29 +0900 Subject: [PATCH 11/11] modify the README according to markdown syntax --- README.md | 64 +++++++++++++++++++++++++++---------------------------- 1 file changed, 32 insertions(+), 32 deletions(-) diff --git a/README.md b/README.md index 80248dcc..8b9beb26 100644 --- a/README.md +++ b/README.md @@ -68,44 +68,44 @@ java -cp lib/*;out/production/jmavsim.jar me.drton.jmavsim.Simulator #### Key command #### Views: - F - First-person-view camera. - S - Stationary ground camera. - G - Gimbal camera. - Z - Toggle auto-zoom for Stationary camera. - +/- - Zoom in/out - 0/ENTER - Reset zoom to default. +- F - First-person-view camera. +- S - Stationary ground camera. +- G - Gimbal camera. +- Z - Toggle auto-zoom for Stationary camera. +- +/- - Zoom in/out +- 0/ENTER - Reset zoom to default. Actions: - Q - Disable sim on MAV. - I - Enable sim on MAV. - H - Toggle HUD overlay. - C - Clear all messages on HUD. - R - Toggle data report sidebar. - T - Toggle data report updates. - D - Toggle sensor parameter control sidebar. - F1 - Show this key commands reference. - ESC - Exit jMAVSim. - SPACE - Reset vehicle & view to start position. +- Q - Disable sim on MAV. +- I - Enable sim on MAV. +- H - Toggle HUD overlay. +- C - Clear all messages on HUD. +- R - Toggle data report sidebar. +- T - Toggle data report updates. +- D - Toggle sensor parameter control sidebar. +- F1 - Show this key commands reference. +- ESC - Exit jMAVSim. +- SPACE - Reset vehicle & view to start position. Manipulate Vehicle: - ARROW KEYS - Rotate around pitch/roll. - END/PG-DN - Rotate CCW/CW around yaw. - SHIFT + ARROWS - Move N/S/E/W. - SHIFT + INS/DEL - Move Up/Down. - NUMPAD 8/2/4/6 - Start/increase rotation rate around pitch/roll axis. - NUMPAD 1/3 - Start/increase rotation rate around yaw axis. - NUMPAD 5 - Stop all rotation. - CTRL + NUMPAD 5 - Reset vehicle attitude, velocity, & accelleration. +- ARROW KEYS - Rotate around pitch/roll. +- END/PG-DN - Rotate CCW/CW around yaw. +- SHIFT + ARROWS - Move N/S/E/W. +- SHIFT + INS/DEL - Move Up/Down. +- NUMPAD 8/2/4/6 - Start/increase rotation rate around pitch/roll axis. +- NUMPAD 1/3 - Start/increase rotation rate around yaw axis. +- NUMPAD 5 - Stop all rotation. +- CTRL + NUMPAD 5 - Reset vehicle attitude, velocity, & accelleration. Manipulate Environment: - ALT + - ARROW KEYS - Increase wind deviation in N/S/E/W direction. - INS/DEL - Increase wind deviation in Up/Down direction. - NUMPAD 8/2/4/6 - Increase wind speed in N/S/E/W direction. - NUMPAD 7/1 - Increase wind speed in Up/Down direction. - NUMPAD 5 - Stop all wind and deviations. +- ALT + + - ARROW KEYS - Increase wind deviation in N/S/E/W direction. + - INS/DEL - Increase wind deviation in Up/Down direction. + - NUMPAD 8/2/4/6 - Increase wind speed in N/S/E/W direction. + - NUMPAD 7/1 - Increase wind speed in Up/Down direction. + - NUMPAD 5 - Stop all wind and deviations. - CTRL+ Manipulate - Rotate/move/increase at a higher/faster rate. +- CTRL+ Manipulate - Rotate/move/increase at a higher/faster rate. ### Troubleshooting ### @@ -174,7 +174,7 @@ AbstractMulticopter vehicle = new Quadcopter(world, "models/3dr_arducopter_quad_ Custom MAVLink protocols can be used, no any recompilation needed, just specify XML file instead of `custom.xml` here: ``` -MAVLinkSchema schema = new MAVLinkSchema("mavlink/message_definitions/common.xml +MAVLinkSchema schema = new MAVLinkSchema("mavlink/message_definitions/common.xml"); ``` It's convinient to start the simulator from IDE. Free and powerful "IntelliJ IDEA" IDE recommended, project files for it are already included, just open project file `jMAVSim.ipr` and right-click -> Run `Simulator`.