SITL Forge - FPV Laboratory

Adds a software-in-the-loop bridge to iNAV firmware. Replaces the built-in flight controller with the real firmware running on your PC, with simulated GPS and compass — so you can test navigation modes (position hold, return-to-home, waypoints) and tune PIDs and rates without risking real hardware.

This DLC adds a software-in-the-loop bridge between SITL Forge - FPV Laboratory and iNAV firmware running on your PC. The built-in PID controller is replaced with the real firmware, so you fly, navigate, and tune against the same code that runs on real hardware — driven by the simulator's 1000Hz physics model, calibrated against real bench measurements.<br><br>Requires the base app: SITL Forge - FPV Laboratory.<br><br>---<h2 class="bb_tag" >What This DLC Adds</h2><br><ul class="bb_ul"><li> MSP-based HITL bridge — the firmware drives the simulator through iNAV's standard MSP_SIMULATOR protocol<br></li><li> Per-motor outputs polled from the firmware, smoothed into the 1000Hz physics step<br></li><li> 50Hz RC channel link — joystick or RC transmitter feeds the firmware's stick inputs<br></li><li> Simulated GPS and compass — unlocks iNAV's navigation modes: position hold, altitude hold, return-to-home, waypoint missions, and auto-launch<br></li><li> One-click mode switch — flip between built-in SIM and external firmware in-app</li></ul><br>---<h2 class="bb_tag" >A Controlled Environment for Navigation and Tuning</h2><br>iNAV is built around navigation, and so is this integration. Test GPS-driven flight modes and tune the firmware in a simulator that aims to approximate real airframe behavior as closely as possible — without risking hardware on every change. The behavior you see is driven by the same firmware code you'll flash to your aircraft, running against a physics model fitted to real bench data.<br><br><ul class="bb_ul"><li> Fly position hold, return-to-home, and waypoint missions against simulated GPS<br></li><li> Iterate on PID gains, rates, and filters without crashing real hardware<br></li><li> Probe failsafe behavior by simulating sensor and signal loss<br></li><li> Reproduce tricky navigation and tuning issues in a controlled environment</li></ul><br>---<h2 class="bb_tag" >Technical Details</h2><br><ul class="bb_ul"><li> MSP V2 link over TCP between simulator and firmware (port configurable in-app)<br></li><li> MSP_SIMULATOR HITL state exchange with the firmware's sensor and navigation stack<br></li><li> Simulated GNSS and magnetometer feed the firmware's estimator and navigation modes<br></li><li> Coordinate transform handled in-engine (Godot Y-up ↔ aviation NED)<br></li><li> Per-sensor failure simulation (gyro, accelerometer, barometer, compass, GPS) for failsafe testing</li></ul><br>---<h2 class="bb_tag" >Compatibility</h2><br>You provide your own iNAV install. The iNAV SITL flight controller ships inside the free, open-source iNAV Configurator — there is nothing extra to build. Tested with iNAV 9.0. This DLC does not include or distribute iNAV binaries. Setup details are available in the iNAV project's SITL documentation , and in-app setup notes are included.<br><br>The iNAV Configurator can stay connected over TCP while you fly — for live PID tuning and telemetry — alongside the simulator link.<br><br>---<br><br><i>This DLC is an independent integration. It is not affiliated with, endorsed by, or sponsored by the iNAV project. &quot;iNAV&quot; is a trademark of its respective owners and is referenced here only to identify the firmware this integration connects to.</i><br>

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SITL Forge – External FC: iNAV Achievements