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8418723ccc
Add interpretControls function to convert pilot commands and mode into control targets and make control functions independent from the mode. Add ratesExtra target for rates feed-forward; remove yawMode. Rename controlRate to controlRates to reflect rates variable name. Remove USER mode.
Gazebo Simulation
Building and running
See building and running instructions.
Code structure
Flix simulator is based on Gazebo Classic and consists of the following components:
- Physical model of the drone:
models/flix/flix.sdf. - Plugin for Gazebo:
simulator.cpp. The plugin is attached to the physical model. It receives stick positions from the controller, gets the data from the virtual sensors, and then passes this data to the Arduino code. - Arduino imitation:
Arduino.h. This file contains partial implementation of the Arduino API, that is working within Gazebo plugin environment.