Emulate Ardupilot on linux and input sensor data through MAVROS

ArduCopter
1

I want to run Ardupilot on linux but the sensor data is fed to the Ardupilot through ethernet using MAVROS. It’s similar to Ardupilot SITL, but instead of using fake data I want to input real data from sensors using MAVROS.

I know that this is possible in PX4, where you can run a PX4 instance on linux and feed sensor data from a Gazebo sim. But in my case, I want to feed real sensor data to Ardupilot (running on linux) through MAVROS or some other method (maybe udp using the 127.0.0.1:5501 similar to Tools/autotest/fakepos.py ?).

Does anyone know if this is feasible or have some other ideas?
I know that https://github.com/ArduPilot/ardupilot_gazebo does something similar but I’m not sure if the gps and attitude data come from the Ardupilot SITL or Gazebo.

2

just realized that the fake sensor data is generated by the sitl firmware itself. I built a linux firmware and noticed that you can just execute it.

./waf configure --board linux
./waf rover
exec ~/ardupilot/build/linux/bin/ardurover.bin

I will now investigate how to connect to a running linux ardupilot firmware. maybe adapt the sim_vehicle.py to work with linux firmware instead of sitl.