Add random noise to the gyros

ArduCopter Copter 4.0
1

Hi everyone,

We are a university team and we need to simulate a gyro failure by modifying the firmware. We need to add an offset from the remote control. Where can we start?

Thank you!

2

you can start here, and adapt it https://github.com/ArduPilot/ardupilot/pull/15965

1 Like
3

Hi.
There is no part within your PR (https://github.com/ArduPilot/ardupilot/pull/15965) that turns off or adds noise to the IMU gyroscope. The only sensors present in your code are the rangefinder, the magnetometer and the gps. I think the file that needs to be edited is “AP_InertialSensor_Invensense.cpp” but I’m not sure where to go to operate.

4

Like I said is a starting point, not a finished solution. But you can see how to assign functions to RC switches.