Multirotor Simulator in C++

The purpose of this repository is to provide a multirotor simulator, implemented in C++.

API

The documentation of the implementation can be found in docs subdirectory.

This repository make use of the PID library for the PID controller implementation.

For code documentation, use Doxygen. The documentation files have to be built locally:

1. Install doxygen sudo apt install doxygen
2. Run doxygen in the root folder multirotor_simulator/ by the doxygen command.
3. Open the documentation in by clicking multirotor_simulator/doxygen/html/index.html

Usage

An implementation example can be found in Aerostack2, specifically in the as2 multirotor simulator platform package.

Build

Dependencies: eigen, gtest (only if set BUILD_TESTING to ON).

The project can be built using CMake. The following commands can be used to build the project:

mkdir build
cd build
cmake ..
make

Development

Build tests using BUILD_DEVELOPER_TESTS flag:

Dependencies: cpplint, benchmark, lcov.

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Debug -DBUILD_DEVELOPER_TESTS=true ..
make

Run tests using ctest from the build folder:

cd build
ctest

View code coverage opening the index.html file in build/tests/coverage/index.html with a browser.

Examples

Check the examples folder for more information.