![]() ![]() 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. Mastercam no sim found network software#.
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