ManualHITL.md

HITL simulations

Adding custom airframes

You can create custom airframe for HITL simulations and save them in airframe_hitl folder. Names of created airframe file should consist of number code followed by model name (e.g. 6011_typhoon_h480). After run in terminal:

ln -fs ~/catkin_ws/src/px4_sim/airframes_hitl/* ~/PX4-Autopilot/build/px4_sitl_default/etc/init.d-posix/airframes/

Enabling motors in hitl

By default motors output is blocked in hitl mode. To unblock it, run in terminal:

cd ~/catkin_ws/src/px4_sim/hitl_setup/
./hitl_setup

Follow the instructions of the script to achieve the desired state of operation of the motors.

Building PX4 Software

To apply changes ypu need to build and upload px4 firmware onto flight-controller board. To build for NuttX- or Pixhawk- based boards, navigate into the PX4-Autopilot directory and then call make with the build target for your board. For example, to build for Pixhawk 4 hardware you could use the following command:

cd PX4-Autopilot
make px4_fmu-v5_default

A successful run will end with output similar to:

-- Build files have been written to: /home/youruser/src/PX4-Autopilot/build/px4_fmu-v4_default
[954/954] Creating /home/youruser/src/PX4-Autopilot/build/px4_fmu-v4_default/px4_fmu-v4_default.px4

The first part of the build target px4_fmu-v4 indicates the firmware for a particular flight controller hardware. The following list shows the build commands for the Pixhawk standard boards:

-Holybro Pixhawk 6X (FMUv6X): make px4_fmu-v6x_default

-Holybro Pixhawk 6C (FMUv6C): make px4_fmu-v6c_default

-Holybro Pix32 v6 (FMUv6C): make px4_fmu-v6c_default

-Holybro Pixhawk 5X (FMUv5X): make px4_fmu-v5x_default

-Pixhawk 4 (FMUv5): make px4_fmu-v5_default

-Pixhawk 4 Mini (FMUv5): make px4_fmu-v5_default

-CUAV V5+ (FMUv5): make px4_fmu-v5_default

-CUAV V5 nano (FMUv5): make px4_fmu-v5_default

-Pixracer (FMUv4): make px4_fmu-v4_default

-Pixhawk 3 Pro: make px4_fmu-v4pro_default

-Pixhawk Mini: make px4_fmu-v3_default

-Pixhawk 2 (Cube Black) (FMUv3): make px4_fmu-v3_default

-mRo Pixhawk (FMUv3): make px4_fmu-v3_default (supports 2MB Flash)

-Holybro pix32 (FMUv2): make px4_fmu-v2_default

-Pixfalcon (FMUv2): make px4_fmu-v2_default

-Dropix (FMUv2): make px4_fmu-v2_default

-Pixhawk 1 (FMUv2): make px4_fmu-v2_default

-Pixhawk 1 with 2 MB flash: make px4_fmu-v3_default

Build commands for non-Pixhawk NuttX fight controllers (and for all other-boards) are provided in the documentation for the individual flight controller boards.

Note The _default suffix is the firmware configuration. This is optional (i.e. you can also build using make px4_fmu-v4, make bitcraze_crazyflie, etc.).

Uploading Firmware (Flashing the board)

Append upload to the make commands to upload the compiled binary to the autopilot hardware via USB. For example:

make px4_fmu-v4_default upload

A successful run will end with this output:

Erase  : [====================] 100.0%
Program: [====================] 100.0%
Verify : [====================] 100.0%
Rebooting.

[100%] Built target upload

Setting up HITL

Select Airframe. To do this open *Setup --> Airframes Select a compatible airframe you want to test. Generally you'll select HILStar for Fixed Wing/X-Plane simulator and a HIL QuadCopter option for copters (and jMAVSim or Gazebo). Then click Apply and Restart on top-right of the Airframe Setup page.

Calibrate your RC or Joystick, if needed. You can control simulation with a QGroundControl Virtual Joystick aswell. Then setup UDP connection. Under the General tab of the settings menu, uncheck all AutoConnect boxes except for UDP.

Now you can start gazebo HITL simulation. You should be able to use QGroundControl to run missions and otherwise control the vehicle.