peterbarker
commented
8 years ago On Thu, 30 Jun 2016, Nitish Katta wrote:
I am currently trying to set up SITL to run a simulated version of the IRIS+ drone, but the only options are copter, plane, rover, and solo. Although copter would probably be a 'close enough' model, the project I am working on requires as much precision as possible in the simulation. Is there a way to run SITL to more accurately portray the IRIS+ drone? If there is no default option for this in the command window, how can I edit the source code and rebuild the executable to have a more accurate portrayal of the IRIS+ drone?
The in-built simulations for MultiCopter is rather simplistic. You can find the code for it in the ardupilot tree under ibraries/SITL/SIM_MultiCopter.cpp
You can ask SITL to use your compiled binary and use the relevant default parameters with arguments.
You may consider using an external physics simulator if you can afford it. ArduPilot can use xplane, jsbsim and realflight to do the calculations. I don't know if any of those have Iris models, but I believe RealFlight's model editing is quite good.
Yours,
Peter Barker | Programmer,Sysadmin,Geek. pbarker@barker.dropbear.id.au | You need a bigger hammer. :: It's a hack! Expect underscores! - Nigel Williams
I am currently trying to set up SITL to run a simulated version of the IRIS+ drone, but the only options are copter, plane, rover, and solo. Although copter would probably be a 'close enough' model, the project I am working on requires as much precision as possible in the simulation. Is there a way to run SITL to more accurately portray the IRIS+ drone? If there is no default option for this in the command window, how can I edit the source code and rebuild the executable to have a more accurate portrayal of the IRIS+ drone?