A project log for QuadRotor testBed for localization and mapping

I am trying to build a test bed for trying out localization and mapping algorithms.

int-smartint-smart 07/11/2018 at 12:290 Comments

Currently I am working with simulating the project in ArduPilot and then taking it to hardware. ArduPilot SITL is one way to simulate the flight and the sensors. I am pretty sure that the SITL does have a Laser scanner simulator but am not sure what is its field of view. The process to download and run SITL on a Ubuntu 16.04 is as follows:

git clone git://
cd ardupilot 
git submodule update --init --recursive
cd ardupilot

cd Tools/scripts


export PATH=$PATH:$HOME/ardupilot/Tools/autotest
export PATH=/usr/lib/ccache:$PATH

. ~/.bashrc

cd ardupilot/ArduCopter -w  #to load the default parameters --console --map

 The copter can be run in several modes: 

1. Guided: To run in Guided mode do the following.

mode guided
arm throttle
takeoff 40 

For more detailed commands and information goto:

2. Auto: For navigating the copter in Auto mode do the following:

wp load ..\Tools\autotest\copter_mission.txt
arm throttle
mode auto
rc 3 1500