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Autonomous UAV Systems · Free resource

Gazebo SITL → Field Transfer Checklist

Close the sim-to-real gap: world fidelity, sensor models, timing, and the exit criteria that mean SITL actually predicts outdoor behavior.

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1. Simulation fidelity

Vehicle model mass, inertia, and motor limits within ~10% of hardware
Sensor plugins match real FOV, rate, and noise class (camera / LiDAR / IMU)
World includes relevant obstacles, lighting, and GPS quality assumptions
Headless CI run exists for regression — not only a developer laptop demo

2. Software parity

Same ROS graph, params, and Docker/image used in SITL and on Jetson
Clock and TF conventions identical between sim and hardware
Network topology in sim mirrors field (latency / packet loss injected)
Autopilot SITL version matches field firmware major line

3. Scenario coverage

Nominal mission path completes without intervention
Loss-of-link, GPS glitch, and perception dropout cases scripted
Battery drain / RTL triggered and verified in log
Multi-vehicle or swarm cases isolated by domain ID and documented

4. Exit criteria for field

Three consecutive clean SITL runs with no critical warnings
Known sim–real deltas listed (thrust, latency, mag interference)
Hardware bench HITL completed if Jetson-in-the-loop is in scope
Flight lead signs off: sim risk register reviewed

Want this applied to your stack? Book a discovery call or request an async audit at edgefield-consulting.pages.dev · aykumar2106@gmail.com

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