Part 10 SITL - terrytaylorbonn/auxdrone GitHub Wiki

24.0625

In this part 1 (Gdrive) all components are simulated (including the world). This kind of simulation is valuable because

• The flight computer (FC) controls all surfaces (just the rotors). Simple Mavlink commands are sent to FC to fly the copter. Therefore copter reaction to flight commands can be simulated accurately.
• Ground control stations (QGC, MP) are computer based anyway.
• The CC (mission, companion computer) runs several protocols (ROS, MAVROS, MAVLINK, MAVPROXY) that can be simulated accurately.

For Ardupilot

• 10.1 SITL AP Core (SITL, Gaz, ROS)
• 10.2 SITL AP C++ mission as ROS node
• 10.3 SITL AP AI Yolo obj recog
• 10.4 SITL AP Lidar obj avoid
• 10.5 SITL AP Drone swarm
• 10.6 SITL AP Flight planners

For PX4

• 10.7 SITL PX4 Core (SITL, Gaz, ROS) 24.0219

24.0625 10.8, 10.9 moved to 14b

PS1: I include Matlab for one reason because I read that parts of the PX4 code were auto-generated from Matlab.

PS2: The Ardupilot part follows a video series put together by Eric from Intelligent Quads 4 years ago. My docx's make things easier to follow (and I verified each step many times), but I could not have made such fast progress without his series. His is the only (genuinely) step-by-step intro to the drone world that I have found.