Simulating Gyro Noise/Sound

hiberfil · February 8, 2021, 4:07pm

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)

Vabe · February 8, 2021, 4:37pm

You would probably need Hardware in the loop, which I think existed some time ago, but is now discontinued…
https://ardupilot.org/dev/docs/hitl-simulators.html
Which kinda sucks because your project sounds very interesting;)

hiberfil · February 8, 2021, 4:51pm

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.

Vabe · February 8, 2021, 4:54pm

I just realized that I made a mistake, with HITL the computer replaces the sensors, so that wouldn’t work anyways…

hiberfil · February 8, 2021, 4:57pm

Yeah thats why I was looking to see if it would be possible in SITL. Thank you for the suggestions tho. everybit of info and discussion helps.

peterbarker · February 8, 2021, 10:56pm

We already do muck the sensor data up in SITL - looking for things like
SIM_GYR_RND

We can also inject more complex data for our FFT peak-detection code to
be tested against; every commit to master has to pass

github.com

ardupilot/ardupilot/blob/master/Tools/autotest/arducopter.py#L6480


     self.fly_dynamic_notches,
     attempts=4),


Test("GyroFFT",
     "Fly Gyro FFT",
     self.fly_gyro_fft,
     attempts=4),


Test("GyroFFTHarmonic",
     "Fly Gyro FFT Harmonic Matching",
     self.fly_gyro_fft_harmonic,
     attempts=4),


Test("CompassReordering",
     "Test Compass reordering when priorities are changed",
     self.test_mag_reordering),  # 40sec?


Test("CRSF",
     "Test RC CRSF",
     self.test_crsf), #20secs ish

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).

amilcarlucas · February 8, 2021, 11:33pm

@Vabe HITL is working in master again

hiberfil · February 9, 2021, 2:38am

@amilcarlucas We might have to edit the wiki for newbies like me. Would love to use it in ardupilot rather than px

hiberfil · February 9, 2021, 2:45am

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.