For a school project, I am trying to simulate what would happen if I bombarded my Pixhawk 4 mini with soundwaves. Rather than crashing a perfectly good drone, I was wondering if I could simulate this on APM in SITL? Is there a way I can fudge up the gyro/accel info while its in SITL flying a mission?
Thank you so much for all the help
(I am using Pixhawk 4mini with the latest 4.0.6 build)
I can do Qground hilt but problem is in order to run it on HITL qground shuts the sensors down. So no go on hardware. Software wise I just need to figure out how I can inject my noise sadly coding isn’t my strongest suit.
We already do muck the sensor data up in SITL - looking for things like
We can also inject more complex data for our FFT peak-detection code to
be tested against; every commit to master has to pass
tridge did some experiments a long time ago gluing autopilots to speakers
to test their responses - that might be a good way forward for you (crappy
speakers from a second-hand store will cost you virtually nothing).
I already have data for the sensors like BMI055 ICM20948. I am just cluesly looking for a way to add my noise data to SITL or HITL. I was thinking about doing HITL tests using Gazebo’s force menu but Gazebo wont work correctly on HITL. I would love for some expert to show me how I might be able to insert my test data so simulate my results.
Thank you for the wonderful help and replies regardless. you guys are such a lovely and helping bunch.