Gazebo exposes a Google Protobuf API interface to interface with the simulator, allowing one to read the state of the simulator and also control the simulator. The API documentation can be found here.
Proper testing of a flight controller (FC) is crucial for safety and continuous integration. Software in the loop (SITL) allows us to run an FC in a simulated environment. Many FC firmwares support SITL including PX4 and Betaflight which allows the FC to execute on an x86 Linux machine and interact with the Gazebo simulator. In this write up we will be looking specifically at Betaflight.
I’m in the process of migrating my old blog to Github so bare with me. Also due to research in a new area (drone flight development) I’ll be updating this blog frequently as a digital journal in an attempt to prevent an all to familiar habit of not documenting anything and then forgetting how I did something months or years later.