Hi, I’m new to ardupilot. I’m developing a sensor navigating drone and currently, my sensor has a positional glitch and triggers a failsafe in field tests. I’m investigating the ekf parameters that can help me mitigate failsafe and in order to do this, I decided to simulate my drone with ardupilot_gazebo. I’m now having a hard time simulating the GPS glitch. I haven’t found the simulated GPS source for ardupilot and my current approach is to change the value of the SIM_GPS_GLITCH_X and Y parameters. The problem is that this hasn’t triggered failsafe, even when setting high glitch values.
I’m changing the parameters using mavparam and I have checked parameters like ekf gate, ekf threshold, and others.
I want to know what could be wrong and if there is a better way to insert glitch into my signal. Any help would be appreciated.