Our new simulator
The main limitation to the development of our drones is the need to test and verify each of their functionalities, before finally validating the behavior of our algorithms under development. In order to facilitate future developments, we undertook to implement a simulator. We started from the equations governing the dynamics of a paragliding wing to write a code that simulates the evolution of the drone in its environment. This simulator allows us to simulate the execution of the whole code of the drone by replacing the sensors by programs which recover the data of the simulator. This approach is known as software-in-the-loop. Initially coded in Python, we switched to a C++ implementation to gain in execution speed.