7.3 Frequently Asked Questions

Answer:

It is common to need additional packages when running Python scripts, especially when using third-party libraries. You can install missing packages using pip.

Regarding efficiency fault injection: this is how the simulator implements faults internally. The fault parameter represents a multiplication factor used to adjust motor or propeller performance. For example, if the efficiency fault parameter is 0.9, multiplying it with the motor output reduces the output to 90% of its original value, simulating decreased motor efficiency.

The example scripts included with the platform generally do not require additional package installation. If extra packages are needed, simply install them via pip. If you have an alternative approach, you are welcome to share it.

7.3.2 Can adjustable wind speed interference be added in RflySim?

Answer:

Yes. The wind speed can be adjusted in MATLAB through the environment model within the UAV model.

7.3.3 After modifying ModelParam_GPSSatsVisible = 15 and ModelParam_noiseUpperGPS = 0 in RflySimPHM/1.BasicExps/e2_GPSFault/Init.m, compiling and generating a DLL, the changes have no effect in QGC. Why?

Answer:

The current version of the platform only supports changing the overall noise level. The parameters are encapsulated within each module's mask.

7.3.4 Does the RflySim simulation tool have an interface for setting wind speed? The acceleration control interface is limited to 5 m/s and the speed control is capped at PX4's upper limit — how can this be adjusted?

Answer:

You can find the relevant parameters in the multirotor angular rate loop parameters in QGC.

7.3.5 Does RflySim support positioning noise (to make the aircraft less stable)?

Answer:

You can use Simulink to generate a multirotor DLL model and add whatever positioning noise you need.

Alternatively, you can modify the global noise level in CopterSim. There is also a NoGPS mode that disables position information entirely, requiring SLAM-based positioning with visual position data sent to the aircraft via MAVLink.

For more questions, please visit: https://github.com/RflySim/Docs/issues

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