PX4_SIH_QuadX
Simulator in Hardware for PX4 Quadrotor X by Coriolis g Corporation
The Simulator in Hardware (SIH) is an alternative to the Hardware In The Loop (HIL) simulation provided by PX4. In this setup, the controller, the state estimator, and the simulator are running on the embedded hardware. Basically, everything is running on the embedded hardware.
The SIH provides two benefits over the HITL:
- It ensures synchronous timing by avoiding the bidirectionnal connection to the computer. It means the user does not have to worry about having an expensive or real time desktop computer. For comparison, the conventionnal HIL diagram is shown below.
- It provides the code in C++ to developers and researchers willing to incorporate their own mathematical model into the simulator. They can for instance modify the aerodynamic model, or noise level of the sensors, or even add a sensor to be simulated.
The SIH can be used by new PX4 users to get familiar with PX4 and the different modes and features, and of course to learn to fly a quadrotor with the real Radio.
User manual and documentation
For information on setting up the Coriolis SIH, visit this wiki page
For additional documentation, check the Documentation folder.
About us
Coriolis g Corporation is a Canadian company specialized in Vertical Takeoff and Landing (VTOL) Unmanned Aerial Vehicles (UAV).
The company is focusing on developing a new type of VTOL aircraft using a passive coupling system. We are specialized in dynamics and control and real time simulation. The SIH is a simple simulator for quadrotors released for free and without any conditions.
Discover our current platform at www.vogi-vtol.com