Version 1
: Received: 30 November 2023 / Approved: 30 November 2023 / Online: 30 November 2023 (10:43:17 CET)
How to cite:
Tullu, A.; Jung, S.; Lee, S.; Ko, S. Effects of Model Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-In-The-Loop. Preprints2023, 2023111970. https://doi.org/10.20944/preprints202311.1970.v1
Tullu, A.; Jung, S.; Lee, S.; Ko, S. Effects of Model Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-In-The-Loop. Preprints 2023, 2023111970. https://doi.org/10.20944/preprints202311.1970.v1
Tullu, A.; Jung, S.; Lee, S.; Ko, S. Effects of Model Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-In-The-Loop. Preprints2023, 2023111970. https://doi.org/10.20944/preprints202311.1970.v1
APA Style
Tullu, A., Jung, S., Lee, S., & Ko, S. (2023). Effects of Model Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-In-The-Loop. Preprints. https://doi.org/10.20944/preprints202311.1970.v1
Chicago/Turabian Style
Tullu, A., Sangchul Lee and Sangho Ko. 2023 "Effects of Model Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-In-The-Loop" Preprints. https://doi.org/10.20944/preprints202311.1970.v1
Abstract
Software-In-The-Loop (SITL) simulation tools have been extensively used in development of safety-critical software. Utilizing these tools substantially accelerates software development eliminating potential risks and resource costs of physical experiments. This paper investigates the effects of model specific parameters on the development and testing of custom module in PX4 SITL environment. Models of a fixed-wing unmanned aerial vehicle with vertical takeoff and landing capabilities and steerable sensor platform/gimbal are used as case study for this investigation. The effects of parameters of these aerial vehicle and sensor platform models are taken into consideration in the development of custom module that controls the dynamics of steerable sensor platform mounted on the vehicle model. The work also presents steps necessary to customize PX4 SITL and Gazebo simulation environment to incorporate parameters of the vehicle and sensor platform models in the development and testing process of custom module. Based on these instances, simulation results are obtained and discussed. The results show that reliability of PX4 SITL simulation framework is justified by proper customization and integration of PX4 SITL and Gazebo simulator.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
