This is an approach source code of LGDFuzzer.
Python package requirement: numpy ; pandas ; pymavlink ; pyulog ; eventlet ; keras ; tensorflow
OS: The program is only test in Ubuntu 18.04.
pip3 install pymavlink pandas pyulog eventlet keras tensorflow
Simulation requirement: SITL.
The initializer of simulator needs to change the path in the file Cptool.gaSimManager.py with function start_sitl in line34.
For example,
python3 {Your Ardupilot path}/Tools/autotest/sim_vehicle.py --location=AVC_plane --out=127.0.0.1:14550 -v ArduCopter -w -S {toolConfig.SPEED} ".
The configuration is in Cptool.config.py and ModelFit.config.py
train_Lstm.py train a model predictor.
lgfuzzer.py start the fuzzing test.
Train Data Set: https://drive.google.com/drive/folders/1bbRqWWUEuyfu8mubMBMaLD_QARP82P4x?usp=sharing
Video of flight test: https://youtube.com/playlist?list=PLDDY9yM5Ac0Dh5o1R40Hs8lobhD8E3yil
error flight example data log: https://drive.google.com/drive/folders/1VTKvvgNNdIG2kvr4cJ2WeiPsi3kpviaS?usp=sharing