add HIL_STATE_QUATERNION message

[kd0aij]

provides simulated "ground truth" data for vehicle attitude, rotation rates and velocity

requires a modification to jMAVlib also: https://github.com/PX4/jMAVlib/pull/1

[LorenzMeier]

I merged jMAVLib so this should pass now.

[bkueng]

@kd0aij you need to update the git submodule link to point to the PX4 repo to fix the CI error. https://github.com/PX4/jMAVSim/blob/master/.gitmodules#L3

[kd0aij]

@bkueng Thanks, I had forgotten that my fork of jMAVlib was from DrTon/jMAVlib. Unfortunately, PX4/jMAVSim master won't compile with PX4/jMAVlib but is OK with DrTon/jMAVlib. My testing has been done with kd0aij/jMAVSim and kd0aij/jMAVlib, so we need to find the divergence in PX4/jMAVlib.

Is a PX4 fork of jMAVlib really necessary?

[bkueng]

I would much prefer not to have different forks either. But I'd say it's the same as with FlightPlot: @DrTon told me he currently has no time to maintain it, so we started the PX4 fork, to which he agreed. The advantage of the PX4 repo is, that multiple people have write access (including DrTon), so updates don't get blocked/delayed too much. If you want you can email him as well. Or if you have a better alternative, I'd like to hear it.

[kd0aij]

I agree that PX4/jMAVSim is necessary (and I have a number of 2 year old enhancements hanging around), but I was wondering about PX4/jMAVlib, since PX4/jMAVSim works with my fork of DrTon/jMAVlib but not PX4/jMAVlib.

I'll see if I can figure out the divergence between the kd0aij and PX4 jMAVlib forks.

[bkueng]

I was able to fix the compile error with:

--- a/src/me/drton/jmavsim/LogPlayerSensors.java
+++ b/src/me/drton/jmavsim/LogPlayerSensors.java
@@ -3,7 +3,7 @@ package me.drton.jmavsim;
 import me.drton.jmavlib.geo.LatLonAlt;
 import me.drton.jmavlib.log.FormatErrorException;
 import me.drton.jmavlib.log.LogReader;
-import me.drton.jmavlib.log.PX4LogReader;
+import me.drton.jmavlib.log.px4.PX4LogReader;

 import javax.vecmath.Vector3d;
 import java.io.EOFException;

[kd0aij]

How does that work? There's no log.px4 directory in PX4/jMAVlib

[bkueng]

yes there is: https://github.com/PX4/jMAVlib/tree/master/src/me/drton/jmavlib/log/px4

[kd0aij]

@bkueng Thanks, not sure how I wound up with a stale submodule repo. And I don't understand why LogPlayerSensors was broken either :)

Had to edit .gitmodules directly to make it point at PX4. Just checking out master from PX4/jMAVlib was insufficient.

[bkueng]

This looks good now. Just to make sure this was your intention: you dropped the previous commits 'change Iris mass back to 0.8', 'change to HIL_STATE_QUATERNION', ... from this branch. Is that deliberate?

[kd0aij]

No, that was accidental, and I don't know how to recover them now.

[kd0aij]

maybe this one is right: https://github.com/PX4/jMAVSim/pull/34