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39 lines
981 B
Markdown
39 lines
981 B
Markdown
# Modules Reference: Simulation
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## simulator_sih
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Source: [modules/simulation/simulator_sih](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/simulation/simulator_sih)
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### Description
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This module provides a simulator for quadrotors and fixed-wings running fully
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inside the hardware autopilot.
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This simulator subscribes to "actuator_outputs" which are the actuator pwm
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signals given by the control allocation module.
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This simulator publishes the sensors signals corrupted with realistic noise
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in order to incorporate the state estimator in the loop.
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### Implementation
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The simulator implements the equations of motion using matrix algebra.
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Quaternion representation is used for the attitude.
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Forward Euler is used for integration.
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Most of the variables are declared global in the .hpp file to avoid stack overflow.
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### Usage {#simulator_sih_usage}
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```
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simulator_sih <command> [arguments...]
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Commands:
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start
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stop
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status print status info
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```
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