FVMS: A novel SiL approach on the evaluation of controllers for autonomous MAV

摘要

The originality of this work is to propose a novel SiL (Software-in-the-Loop) platform using Microsoft Flight Simulator (MSFS) to assist control design regarding the stabilization problem found in ©AscTec Pelican platform. Aerial Robots Team (USP/EESC/LabRoM/ART) has developed a custom C++/C# software named FVMS (Flight Variables Management System) that interfaces the communication between the virtual Pelican and the control algorithms allowing the control designer to perform fast full closed loop real time algorithms. Emulation of embedded sensors as well as the possibility to integrate OpenCV Optical Flow algorithms to a virtual downward camera makes the SiL even more reliable. More than a strictly numeric analysis, the proposed SiL platform offers an unique experience, simultaneously offering both dynamic and graphical responses. Performance of SiL algorithms is presented and discussed.