Simulating your own sensor

Gee · 2021-11-11 17:58:52 UTC

The rangefinder sensor in ardupilot can be simulated with the sitl drone. I am wondering whether the same thing can be done with an external sensor . So the external sensor can also be tested by using it with the sitl drone

jax200 · 2021-11-20 21:48:52 UTC

I don’t know about the SITL, but you can probably with gazebo ros.

caleberg · 2021-12-01 16:14:43 UTC

Definitely possible. You just need a good working knowledge of the actual ardupilot firmware and then need to compile your custom ardupilot code.

Gee · 2021-12-07 15:25:21 UTC

Thats interesting . i would like to know how a relative beginner in ardupilot but one who has knowledge in c++ can start if he wants to get a good grasp on the actual ardupilot source code. Thanks

jax200 · 2021-12-07 19:34:52 UTC

The SITL.cpp lives here…

github.com

ArduPilot/ardupilot/blob/master/libraries/SITL/SITL.cpp

/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

/*
    SITL.cpp - software in the loop state
*/

#include "SITL.h"

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The libraries folder contains code for devices that perhaps you can emulate.

It would be an interesting project to work on.