Effects of Model-Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-in-the-Loop
Software-in-the-loop simulation tools have been extensively used in the development of safety-critical software. Utilizing these tools substantially accelerates software development, eliminating potential risks and resource costs of physical experiments. This paper investigates the effects of model-...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2025-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/ijae/4886534 |
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| _version_ | 1823859590533480448 |
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| author | Abera Tullu Sunghun Jung Sangchul Lee Sangho Ko |
| author_facet | Abera Tullu Sunghun Jung Sangchul Lee Sangho Ko |
| author_sort | Abera Tullu |
| collection | DOAJ |
| description | Software-in-the-loop simulation tools have been extensively used in the development of safety-critical software. Utilizing these tools substantially accelerates software development, eliminating potential risks and resource costs of physical experiments. This paper investigates the effects of model-specific parameters on the development and testing of custom modules in a simulation environment. Models of a fixed-wing unmanned aerial vehicle with vertical takeoff and landing capabilities and a steerable sensor platform/gimbal are used as a case study for this investigation. The effects of parameters of these aerial vehicle and sensor platform models are taken into consideration in the development of a custom module that is incorporated into PX4 Autopilot and controls the dynamics of the steerable sensor platform mounted on the vehicle model. The work also presents steps necessary to customize the PX4 Autopilot software-in-the-loop tool and Gazebo simulation environment to incorporate parameters of the vehicle and sensor platform models in the development and testing process of the custom module. Based on these instances, simulation results are obtained and discussed. The results show that the effective use of the PX4 Autopilot software-in-the-loop simulation framework is justified by its proper customization and integration with the Gazebo simulator. |
| format | Article |
| id | doaj-art-08e57c32bf11473e89c8c0806eb3fe32 |
| institution | Kabale University |
| issn | 1687-5974 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-08e57c32bf11473e89c8c0806eb3fe322025-02-11T00:00:01ZengWileyInternational Journal of Aerospace Engineering1687-59742025-01-01202510.1155/ijae/4886534Effects of Model-Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-in-the-LoopAbera Tullu0Sunghun Jung1Sangchul Lee2Sangho Ko3Department of Smart Drone Convergence Education and Research CenterFaculty of Smart Vehicle System EngineeringDepartment of Smart Air MobilityDepartment of Smart Air MobilitySoftware-in-the-loop simulation tools have been extensively used in the development of safety-critical software. Utilizing these tools substantially accelerates software development, eliminating potential risks and resource costs of physical experiments. This paper investigates the effects of model-specific parameters on the development and testing of custom modules in a simulation environment. Models of a fixed-wing unmanned aerial vehicle with vertical takeoff and landing capabilities and a steerable sensor platform/gimbal are used as a case study for this investigation. The effects of parameters of these aerial vehicle and sensor platform models are taken into consideration in the development of a custom module that is incorporated into PX4 Autopilot and controls the dynamics of the steerable sensor platform mounted on the vehicle model. The work also presents steps necessary to customize the PX4 Autopilot software-in-the-loop tool and Gazebo simulation environment to incorporate parameters of the vehicle and sensor platform models in the development and testing process of the custom module. Based on these instances, simulation results are obtained and discussed. The results show that the effective use of the PX4 Autopilot software-in-the-loop simulation framework is justified by its proper customization and integration with the Gazebo simulator.http://dx.doi.org/10.1155/ijae/4886534 |
| spellingShingle | Abera Tullu Sunghun Jung Sangchul Lee Sangho Ko Effects of Model-Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-in-the-Loop International Journal of Aerospace Engineering |
| title | Effects of Model-Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-in-the-Loop |
| title_full | Effects of Model-Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-in-the-Loop |
| title_fullStr | Effects of Model-Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-in-the-Loop |
| title_full_unstemmed | Effects of Model-Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-in-the-Loop |
| title_short | Effects of Model-Specific Parameters on the Development of Custom Module in PX4 Autopilot Software-in-the-Loop |
| title_sort | effects of model specific parameters on the development of custom module in px4 autopilot software in the loop |
| url | http://dx.doi.org/10.1155/ijae/4886534 |
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