![]() ![]() Has this been done before? I've looked around a bit and it seems that FlightGear is well suited for this type of hackery. Use the autopilot to accept sensor inputs from the FDM, and send back control surface inputs.Right now I'm concentrating on Phase 1. My AHRS code would read in the sensor log, compute the pitch-roll-yaw angles, and would allow me to compare it with the "ground truth" data generated by the FDM.Phase 2: Close the loop. The FDM would generate and log the sensor readings and the "ground truth" pitch-roll-yaw angles. I would load the simulation and fly an airplane around in some pattern. This would not require the flight dynamics model to accept control surface input from the autopilot. Tuning/experimenting with the AHRS algorithm. I want to be able to code in C, so I can use the code directly in the hardware autopilot when I reach that point.I want to use a flight dynamics model to generate sensor inputs to the autopilot (3 axis gyro, 3 axis accelerometer, GPS - just like ArduIMU), and have the autopilot generate control surface inputs to the simulated plane in the flight dynamics model.Phase 1: Open loop. ![]() So, while I'm saving for the hardware, I want to play with the various algorithms out there in a simulation environment - to gain a deeper understanding and feel for it. I don't have the cash right now to buy a plane, ArduIMU, an auto pilot, and associated hardware.
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