Requires the base app: SITL Forge - FPV Laboratory.
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What This DLC Adds
- MSP-based HITL bridge — the firmware drives the simulator through iNAV's standard MSP_SIMULATOR protocol
- Per-motor outputs polled from the firmware, smoothed into the 1000Hz physics step
- 50Hz RC channel link — joystick or RC transmitter feeds the firmware's stick inputs
- Simulated GPS and compass — unlocks iNAV's navigation modes: position hold, altitude hold, return-to-home, waypoint missions, and auto-launch
- One-click mode switch — flip between built-in SIM and external firmware in-app
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A Controlled Environment for Navigation and Tuning
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.
- Fly position hold, return-to-home, and waypoint missions against simulated GPS
- Iterate on PID gains, rates, and filters without crashing real hardware
- Probe failsafe behavior by simulating sensor and signal loss
- Reproduce tricky navigation and tuning issues in a controlled environment
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Technical Details
- MSP V2 link over TCP between simulator and firmware (port configurable in-app)
- MSP_SIMULATOR HITL state exchange with the firmware's sensor and navigation stack
- Simulated GNSS and magnetometer feed the firmware's estimator and navigation modes
- Coordinate transform handled in-engine (Godot Y-up ↔ aviation NED)
- Per-sensor failure simulation (gyro, accelerometer, barometer, compass, GPS) for failsafe testing
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Compatibility
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.
The iNAV Configurator can stay connected over TCP while you fly — for live PID tuning and telemetry — alongside the simulator link.
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This DLC is an independent integration. It is not affiliated with, endorsed by, or sponsored by the iNAV project. "iNAV" is a trademark of its respective owners and is referenced here only to identify the firmware this integration connects to.
