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dev:hil:start [2016/10/27 17:16]
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-====== Hardware in the Loop Developer Guide ====== 
-<note important>​This page is about how to change the Hardware in the Loop Simulation. To just use it, please to the [[:​users:​hil|HIL guide page]]</​note>​ 
-Hardware in the loop (HIL) is a simulation setup where the autopilot hardware performs all control tasks, but is fed simulation data from an external simulator, such as JSBSim or XPlane. PX4 implements HIL via a standard MAVLink interface. 
-<note tip>​Since the safety state machine is active in HIL as well, first measurements need to be provided before the system can be armed / set to the right mode. During HIL actuator outputs are disabled. However, please ensure for the first use on a platform that propellers are unmounted / actuators unpowered.</​note>​ 
-=== Required Measurement Packets === 
-Two alternative interfaces are implemented:​ State-level HIL (the estimators need to be deactivated,​ the use is discouraged) and sensor-level HIL. 
-== Packets required for state level HIL == 
-  * [[https://​pixhawk.ethz.ch/​mavlink/#​HIL_STATE|HIL_STATE]] OR 
-  * [[https://​pixhawk.ethz.ch/​mavlink/#​HIL_STATE_QUATERNION|HIL_STATE_QUATERNION]] 
-== Packets required for sensor level HIL == 
-  * [[https://​pixhawk.ethz.ch/​mavlink/#​HIL_SENSOR|HIL_SENSOR]] 
-  * [[https://​pixhawk.ethz.ch/​mavlink/#​HIL_GPS|HIL_GPS]] 
-=== Required Setup Phase === 
-As HIL also simulates the safety state machine, the same requirements as for real flight apply: 
-  - Supply valid measurement data 
-  - Enable HIL 
-  - If the safety switch is present: Disable safety 
-  - Arm the system 
-Steps 2) and 3) can be done simultaneously if the SET_MODE command has the HIL and ARM flags set. Arming the system without setting the HIL. 

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