Introduction

Veronte DLL

Veronte Autopilot 1x code. This is the code that simulates the physical 1x Autopilot firmware, i.e. it is like a ‘virtual Veronte Autopilot 1x’.

This code can be executed with Veronte Console or with Simulink blocks (hereafter referred to as SIL Simulink). In addition, Veronte DLL can also be run with other languages, such as python, for the customer’s desired use. But this would be done by the user, something similar to the Veronte Console.

Error

Do not run simultaneously with Veronte Console and SIL Simulink, because it will not work.

Veronte Console

It is a Windows executable that allows to simulate the ‘virtual 1x Autopilot’ (VeronteDLL).

However, at present, it has the disadvantage that inputs cannot be simulated through it.

SIL Simulink

A Software in the Loop simulation consists of a Simulink model that simulates the behaviour of the system formed by 1x Autopilot and a vehicle, without having the physical devices connected to the computer; unlike HIL Simulator which has both the autopilot and (optionally) the vehicle connected to the PC.

SIL has several advantages when compared to a HIL setup:

• Complete simulations without any hardware.

• Possibility to use the user’s vehicle model: users can define the dynamics of their vehicle (with the desired complexity) without the need to use external programs, such as Plane Maker.

• Possibility to simulate different types of sensors even if they are not installed in Veronte Autopilot 1x. All that is needed is the raw sensor reading.

• All results can be exported/visualized to MATLAB workspace simultaneously.

• Veronte Autopilot 1x blocks run faster than real-time, allowing the user to execute a series of simulations in a short time. This feature depends on the complexity of the model and the capability of the computer where the simulation is running.