Each entry is a flight we logged in the ArduPilot simulator over Cyprus. GPS was jammed at one fixed second in every flight; from then on each system navigates without satellites. Pick a flight, play it or drag the timeline, and read how far each system was from the truth at every second.
Log scale. The thick bottom line is the truth, the real position (0 m error; a log scale cannot draw 0, so it sits at the floor). Hover for the truth lat/lon and each error; click or drag to jump to that second. Before the jam every system is on GPS.
| Flight time | Mode | Altitude | Since jam | Truth (lat, lon) | ArduPilot (lat, lon) | ArduPilot error | Pathfinder (lat, lon) | Pathfinder error | Physics-only error |
|---|
| Flight | Jammed at | Mission end | Flown after jam | ArduPilot alone | Physics only | Pathfinder |
|---|
Error at mission end, and as a share of the distance flown since the jam; amber cells are results we are not happy with yet. Mission end is the second the drone reaches the spot where its log ends (within 5 m); the replay stops there. Where the data comes from: truth and Pathfinder's track are the same logged flight. ArduPilot flew its own flight on the same route, so its line is drawn as the truth plus ArduPilot's own measured error at the same second since the jam: the gap is its real error, the plotted spot is not a position it logged. Physics-only logs were not kept, so it has an error after the jam and no track. Coordinates are north/east metres from the simulator home (35.0920 N, 33.0930 E) converted to latitude and longitude. Quad airframe, ArduPilot SITL, flown 14 October 2026.
The results explorer: switch systems, weather, route and metric; measured (sim).