Betaloop

Betaloop is a flight simulator with the goal of providing accurate and realistic flight performance primarily to be used in hardware/software in the loop testing for UAVs. This specific implementation is for testing the Betaflight flight controller in Gazebo.

collection of programs and scripts with the

Features

1. Uses real flight control firmware (Betaflight)
2. Supports first person view (FPV) flight
3. Use your own radio controller!

Requirements

1. Gazebo 8
2. Aeroloop Gazebo resources
3. Betaflight compiled for SITL
4. Python3
5. VidRecv
6. MSP virtual radio

Instructions

For required software part of Aeroloop make sure to follow the install instructions specified by their respective README file. For ease of use, add your arguments to config.txt, if needed these can be overridden by command line arguments.

Run the script to start the simulator,

python3 start.py

Notes

When Betaflight is started a .bin is created and the configuration settings are saved here. This is saved in the current directory. Be careful as this can currently cause a .bin to be overwritten if testing multiple builds.

Motor Mapping

This will be changed in the future so they match however current mappings are,

Gazebo

Rotor 0 = Front Right Rotor 1 = Back Left Rotor 2 = Front Left Rotor 3 = Back Right

Standard BF Mixer

Rotor 0 = Back Right Rotor 1 = Front Right Rotor 2 = Back Left Rotor 3 = Front Left