Simulation Requirements

In the context of this software, "simulation" refers to running a subset of the vehicle software in an environment where vehicle elements outside the purview of the software (actuators, sensors, the physical world) are replaced by artificial substitutes.

Due to the complexity and expense of in-water testing (not to mention the opacity of the vehicle software while underway), simulation is a key element in software testing.

Use the vehicle source code for guidance (Layered Control), navigation, control, and logging.

• It need not include hardware-level drivers.
• Currently implemented (See ExternalSim and SimSlate)

Allow for running the simulation off the target while running the vehicle code on the target.

• Currently implemented (See ExternalSim and SimSlate)

Allow for full dynamic simulation.

• Currently implemented in Simulator class

Allow for fast kinematic simulation.

• Not implemented

• Todo:

  Implement Allow for fast kinematic simulation.

Allow for very fast mission emulation

• Faster than kinematic simulation.
• Not implemented

• Todo:

  Implement Allow for very fast mission emulation