I’ve managed to get some of the simulator UI and rendering done.
For now the sensors will be simulated by taking the uav rigid body (cylinder) state and applying some random white noise to it. I’ll probably have to add some very low frequency noise to simulate temperature drift.
This data is then sent to the brain board through a tcp channel with the same interface as the serial channel the brain uses to talk to the io_board (the avr). The simulator basically replaces the io_board with a bullet physics simulation.