To have confidence and give an impression of how well the simulator replicates the real MAV, we are using the same controller gains in the simulation as on the real Hummingbird and Firefly MAVs.

The ROS provide the ardrone_autonomy and bebop_autonomy packages for the Parrot AR Drone and the Parrot Bebop Drone respectively, as shown in the following photograph:

Following are the packages:

• ardrone_autonomy: https://ardrone-autonomy.readthedocs.io/en/latest/
• bebop_autonomy: https://bebop-autonomy.readthedocs.io/en/latest/

Similarly, the AscTec Pelican/ Hummingbird and Firefly quadrotor helicopters are built by Ascending Technologies and can be interfaced with ROS using an asctec_autopilot package. These helicopters are shown in the following photograph:

The asctec_autopilot package is available at http://wiki.ros.org/Robots/AscTec.