Software-in-the-Loop

Setup

1. Create Python virtual environment

$ python -m venv .venv

2. Activate virtual environment

$ source .venv/bin/activate

3. Install Python dependencies

$ pip install -r requirements.txt

InfluxDB

InfluxDB settings are retrieved from system environment variables. It may be convenient to create a '.env' file with the following keys:

INFLUX_TOKEN=
INFLUX_URL=
INFLUX_ORG=
INFLUX_BUCKET=

Data is stored in the 'sitl' measurement.

Utilities

Mosquitto Docker Container

Hosts a Mosquitto MQTT broker configured to serve websocket clients.

Running:

$ cd docker
$ sudo docker compose up -d
$ cd ../../

Simulated Telemetry MQTT Publisher

Publishes a telemetry replay of data recorded during a static fire test of Valkyrie.

Running:

$ python sitl.py

MQTT Echo

Prints all MQTT messages from any topic to the terminal.

Running:

$ python mqtt_echo.py

Sine Wave