SITL Simulation of single physic steps

[TunaLobster (Charlie)]

I went a slightly different route for validation of SITL. It still involves creating an error for the control loops to correct for, but it changes the angle rather than the RC input.

SITL vs physical servo output differences

I’m trying to create a process to validate that the system dynamics of the attitude controller is the same in SITL and physical hardware. For the SITL side I am using the MATLAB/JSON interface to simulate the body rotating. I noticed some unwanted randomness on the angle reported in the GCS so I dropped the RND parameters for attitude sensors to zero. That model is available here. I’m still working on it, but this version helps illustrates the issue I am having so far. For the physical side I …