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Hardware-in-the-loop set-ups. Each row shows changes in the hardware set-up and each column on the right changes in the software. The first row shows the transition from SITL to HITL using an Ethernet connection. The first column shows a real-time configuration as shown in Figure 1 and the the second column shows an onboard configuration. The second row shows the transition to a wireless connection. The third row shows the transition to the second embedded device.
