Hi all, I have been trying to run a simulation using a different kind of source for my GPS module using GPS_INPUT mavlink messages. To have an indication on the performance and the effect of the gps messages I wanted to run a simulation with GPS as groundtruth and simulations based on the ‘mocked’ gps data and see its effect. In addittion I also wanted to run a simulation where I would turn of the GPS by changing the GPS_TYPE/SIM_GPS_TYPE param. However, once I run and plot the trajectory of each different flight configuration all the trajectories are exactly the same suggesting that even when the GPS is turned of in the simulation the drone would not drift. My questions is therefore, is there a way to visualise drift as a result of purely flying on the IMU and other sensors or is the ardupilot software unable to visualise/simulate drift?
Thanks in advance!
as indication here is a trajectory plot of different simulation configurations (no gps/with gps/with wind etc)
