In particular it can simulate many weather conditions, including thunderstorms, snow, rain and hail, and can also simulate thermals and different types of atmospheric flows. Multi-vehicle simulation is also supported. Supported Vehicles: Plane, Autogyro, RoverĪ simulator that provides advanced flight dynamics models. This can be used to model realistic flight dynamics based on wind tunnel data.Ī simple multirotor simulator that allows you to fly copter type vehicles around a simulated world. It is easy to set up and can be used to test that your vehicle can take off, fly, land, and responds appropriately to various fail conditions (e.g. It can also be used for multi-vehicle simulation.Ī cross platform simulator that provides physically and visually realistic simulations. This simulator is resource intensive, and requires a very significantly more powerful computer than the other simulators described here.
Supported Vehicles: Iris (MultiRotor model and a configuration for PX4 QuadRotor in the X configuration).Īn alternative to HITL that offers a hard real-time simulation directly on the hardware autopilot.
This simulator is implemented in C++ as a PX4 module directly in the Firmware code (opens new window). Ignition Gazebo is derived from the popular robotics simulator Gazebo, featuring more advanced rendering, physics and sensor models. Instructions for how to setup and use the simulators are in the topics linked above. The remainder of this topic is a "somewhat generic" description of how the simulation infrastructure works. It is not required to use the simulators. # Simulator MAVLink APIĪll simulators communicate with PX4 using the Simulator MAVLink API. This API defines a set of MAVLink messages that supply sensor data from the simulated world to PX4 and return motor and actuator values from the flight code that will be applied to the simulated vehicle.Ī SITL build of PX4 uses simulator_mavlink.cpp (opens new window) to handle these messages while a hardware build in HIL mode uses mavlink_receiver.cpp (opens new window). Sensor data from the simulator is written to PX4 uORB topics.Īll motors / actuators are blocked, but internal software is fully operational.
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