Virtual Event | September 14 - 15, 2021
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Tuesday, September 14 • 9:10am - 9:25am
InnoDynamics: Industrial Grade OpenSource UAVCAN HITL Simulator for PX4 Autopilot - Roman Fedorenko & Dmitry Ponomarev, RaccoonLab.org

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We present a new HITL simulation approach for UAV illustrated in the example of Innopolis vertical takeoff and landing aircraft. It's designed to work with a PX4 flight stack and unlike the existing common approaches of simulation, it allows to use of full hardware in the loop simulation utilizing the UAVCAN network. The new type of simulation covers more autopilot hardware-specific modules that could be useful especially because of the rapid development of the UAVCAN network in the UAV field. This simulator has a modular structure based on ROS. It allows users to interact with additional modules such as the realistic Innopolis Simulator and easily change current dynamics into another, for example, FlightGoggles. Simulation results are based on computational fluid dynamics analyses (CFD) and validated against recorded flight data and performance and limitations of this type of simulation are studied and shown in this work. The developed simulator contributes to the further development of the vehicle and can also be useful for developing UAVs based on the UAVCAN network. New UAVCAN HITL Simulator would be available at https://github.com/InnopolisAero/innopolis_vtol_dynamics

avatar for Roman Fedorenko

Roman Fedorenko

Founder and CEO, RaccoonLab.org
Roman Fedorenko is the founder and CEO of RaccoonLab.org — a team of enthusiasts in field robotics and a new technology company based in Innopolis, a Russian brand-new innovation center. The company works on drone cinematography, UAVCAN electronics, new drone constructions, and... Read More →
avatar for Dmitry Ponomarev

Dmitry Ponomarev

Lead embedded software developer, RaccoonLab.org, Innopolis University
Dmitry Ponomarev is the lead software developer in RaccoonLab.org and in the Innopolis University Robotics center. He has 5+ years of experience in industrial software development. His current work focus is PX4 autopilot and RaccoonLab UAVCAN devices firmware development, UAV dynamics... Read More →

Tuesday September 14, 2021 9:10am - 9:25am PDT
Track 2
  Lightning Talks
  • Presentation Slides Included yes