Add random noise to the gyros

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!

you can start here, and adapt it

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There is no part within your PR ( 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.

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