Simulation mode is available from version 0.8 on.
It allows you to test your flight plan using a simulated airplane that runs on the ground control station. The simulated airplane's parameters (position, attitude, ...) are sent towards the gluonpilot module, which behaves as if this would be real.
How does it work?
The gluonpilot system can run in a Hardware-in-the-loop (HIL) simulation mode. How does all this work?
At startup, the gluon module is set in Simulation Mode. From then on, it disables all sensor routines inside the module. Also, all servo positions are sent to the GCS. On the GCS side, the servo positions are received and passed on to an airplane model calculator inside the GCS. This model returns GPS data (positions, speed, heading, ...) and attitude information and forwards it to the module.
All this wizardry allows you to test your navigation routines as the module interprets them! Also RC links, autopilot mode switching, ... can be tested here.
Entering simulation mode
- Make sure your module is powered
- Connect FTDI or XBee (FTDI works better)
- Launch Gluon Control Station
- Enable simulation mode
The simulation will start at the home position.
Remark that the module's default settings (aileron mixing!) are required for the simulation mode to run properly.
What's not (yet) available?
In order to make the simulation mode easy to use, altitude and throttle control is not implemented. The UAV flies at a constant speed and altitude.