The SITL works fine; thanks to @patrickelectric tutorials and answers to different questions on the forum, which helps to run the simulations seamlessly. One of the objective is to use the ideal measurements from sensors (or configure the noise in sensor measurements) to test the overall system. Furthermore, we have noticed that the EKF switched to different modes. Please have a look at the attached screen shots:
The parameters used in the simulations are from @patrickelectric bluerov2_gazebo_sitl.param
The questions are as follows:
- For high level testing in simulations, we assume that the low-level controller and sensors are calibrated and works fine. How can we achieve this in SITL testing? Is it possible to force this capability?
- One of the main objective for many users of SITL to vary the noise in the sensors. How can we change the sensor noise parameters?
- We want to have as many sensors as possible for SITL testing. It can be seen in one of the screen shot that Compass is not install and Gyroscope is not present. Furthermore, it will be greatly appreciated if anyone can guide about getting the vision/camera data in QGC or Gazebo SITL.
Any advice or guidance would be greatly appreciated.