README.md

Hardware In The Loop Adapter

This repository provides a link between a copterust stack running on a hardware and gazebo simulator. Tested on gazebo version 9.5.0 and ardupilot_gazebo bb3471d.

HOW TO

1. Install gazebo9.
2. Install gazebo9 development libraries.
3. Compile and install ardupilot_gazebo plugin. If that fails around OGRE apply ardupilot_gazebo_patch from this repo and try again.

git clone https://github.com/khancyr/ardupilot_gazebo
cd ardupilot_gazebo
mkdir build
cd build
cmake ..
make -j4
sudo make install

4. On a separate terminal run gazebo --verbose worlds/iris_arducopter_runway.world
5. Next run cargo run and watch telemetry while copter flies away.