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SITL Assignment

The document outlines a task to integrate a drone model with ArduPilot SITL and Gazebo, divided into three parts: establishing communication between SITL and Gazebo, adding a gimbal and camera, and controlling the gimbal with MAVLink commands. Deliverables include documentation detailing the approach, data flow, and any issues encountered, as well as a video recording demonstrating the system in action. The expected outcomes are a functioning drone simulation, a working camera feed, and accurate gimbal movement in response to commands.

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udayvalmiki71
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3 views2 pages

SITL Assignment

The document outlines a task to integrate a drone model with ArduPilot SITL and Gazebo, divided into three parts: establishing communication between SITL and Gazebo, adding a gimbal and camera, and controlling the gimbal with MAVLink commands. Deliverables include documentation detailing the approach, data flow, and any issues encountered, as well as a video recording demonstrating the system in action. The expected outcomes are a functioning drone simulation, a working camera feed, and accurate gimbal movement in response to commands.

Uploaded by

udayvalmiki71
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd

Task Overview

You are given a drone model in SDF format.


Your task is divided into three main parts:

Part 1 — ArduPilot SITL + Gazebo Drone Integration


You must:
Set up ArduPilot SITL on your system [Link]
Load the provided drone SDF model into Gazebo (Citadel / Garden / Classic — your choice).
Establish bi-directional communication between ArduPilot SITL and the Gazebo drone:

SITL → Gazebo: motor outputs


Gazebo → SITL: IMU, GPS, barometer, etc.
Configure the model so that the drone can arm and take off using SITL commands.
Demonstrate a stable hover or basic mission command (e.g., TAKEOFF, LAND).

Expected output:
Gazebo simulation shows a drone responding to SITL autopilot commands.

Part 2 — Attach 1-DOF Gimbal + Camera in Gazebo


You must:
Add a 1-DOF gimbal joint (pitch or yaw) to the provided drone SDF model.
Mount a camera plugin on the gimbal.
Display the video feed from the camera inside a viewer:
Gazebo client window, OR
ROS2 image viewer (rqt, rviz), OR
Custom script that displays the camera stream

Expected output:
Camera feed clearly shows motion as the gimbal rotates.

Part 3 — Gimbal Control via MAVLink Commands

You must:
Create a MAVLink interface (using pymavlink / MAVSDK / custom script).
Use MAVLink commands such as:
MAV_CMD_DO_MOUNT_CONTROL
MAV_CMD_DO_MOUNT_CONFIGURE
Send commands to manipulate pitch/yaw of the 1-DOF gimbal.

Expected output:
Gimbal moves accurately when MAVLink commands are sent.
Deliverables

1. Documentation (Mandatory)
A short but clear document (PDF or Markdown) containing:
Approach and architecture
Diagram of SITL ↔ Gazebo data flow
Steps performed for each part
Any deviations or issues faced and how they were solved

2. Video Recording (Mandatory)


A screen recording showing:
SITL running
Gazebo showing the drone
Gimbal & camera working
MAVLink commands affecting the gimbal

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