HITL - Revision history

Podhrmic: /* setschedparam failed!" error */

2018-11-24T23:13:17Z

setschedparam failed!" error

← Older revision		Revision as of 17:13, 24 November 2018
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	Known issues:		Known issues:

	=== setschedparam failed!" error ===		=== setschedparam failed error ===
	If you get "setschedparam failed!" error when running NPS/HITL, you have to change limits.conf - see https://stackoverflow.com/q/10704983/9237888		If you get "setschedparam failed!" error when running NPS/HITL, you have to change limits.conf - see https://stackoverflow.com/q/10704983/9237888

Podhrmic: /* Issues */

2018-11-24T23:12:38Z

Issues

@@ Line 211: / Line 211: @@
 == Issues ==
-If you find a problem, please contact out gitter channel or file an issue on github ([https://github.com/paparazzi/paparazzi/issues here])
+If you find a problem that is not mentioned here, please contact out gitter channel or file an issue on github ([https://github.com/paparazzi/paparazzi/issues here])
 <big>Happy flying!</big>

Podhrmic at 23:47, 14 March 2018

2018-03-14T23:47:25Z

← Older revision		Revision as of 17:47, 14 March 2018
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	<big>Happy flying!</big>		<big>Happy flying!</big>

	[[File:~~Minon_HITL~~.png\|~~500px~~\|~~left~~]]		[[File:Minion_HITL.png\|600px\|center\|Minion in the air]]

	[[Category:Simulation]] [[Category:Software]] [[Category:Hardware]] [[Category:Developer_Documentation]]		[[Category:Simulation]] [[Category:Software]] [[Category:Hardware]] [[Category:Developer_Documentation]]

Podhrmic: added info

2018-03-14T23:46:02Z

added info

← Older revision		Revision as of 17:46, 14 March 2018
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	==Limitations==		==Limitations==
			'''Update March 2018: HITL currently works only with Pprzlink 1.0, please recompile paparazzi with PPRZLINK_LIB_VERSION=1.0. We are working on a fix.'''

	For practical reasons (it is very difficult to simulate SPI/I2C devices such as accelerometer, gyroscope etc.), Paparazzi HITL simulates only sensors that connect to the autopilot via serial port (for example GPS unit, or an external AHRS/INS). Currently implemented is [https://wiki.paparazziuav.org/wiki/Sensors/IMU#Vectornav_VN-200 Vectornav VN-200] in [[Subsystem/ins\|INS]] mode, but other sensors and modes can be added (i.e. VN-200 as [[Subsystem/imu\|IMU]], [[Sensors/IMU#Xsens_MTi_and_MTi-G_.28with_GPS.29\|Xsens INS]] etc.). Because the benefit of HITL is to test the autopilot code that is identical to the actual flight code, no other means of transporting sensor data to the autopilot are currently supported (such as sending them through uplink).		For practical reasons (it is very difficult to simulate SPI/I2C devices such as accelerometer, gyroscope etc.), Paparazzi HITL simulates only sensors that connect to the autopilot via serial port (for example GPS unit, or an external AHRS/INS). Currently implemented is [https://wiki.paparazziuav.org/wiki/Sensors/IMU#Vectornav_VN-200 Vectornav VN-200] in [[Subsystem/ins\|INS]] mode, but other sensors and modes can be added (i.e. VN-200 as [[Subsystem/imu\|IMU]], [[Sensors/IMU#Xsens_MTi_and_MTi-G_.28with_GPS.29\|Xsens INS]] etc.). Because the benefit of HITL is to test the autopilot code that is identical to the actual flight code, no other means of transporting sensor data to the autopilot are currently supported (such as sending them through uplink).

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	HITL is the simulation closest to real flight, because both the hardware and the code are identical to the set being used in real flight–the autopilot is really flying with artificial sensor data. HITL is used to test the flight hardware, once the flight plan and initial tuning has been configured. Usually HITL is the last thing to run before going flying.		HITL is the simulation closest to real flight, because both the hardware and the code are identical to the set being used in real flight–the autopilot is really flying with artificial sensor data. HITL is used to test the flight hardware, once the flight plan and initial tuning has been configured. Usually HITL is the last thing to run before going flying.

			==Prerequisites==
			HITL currently (Ubuntu 16.04) needs the following two steps to run correctly:
			* set rtpriority for the uart threads [https://stackoverflow.com/questions/8111302/why-does-pthread-setschedparam-produce-eperm-on-opensuse-11-4 detailes here] by adding these two lines to your ''/etc/security/limits.conf'' file:
			<source>
			domain type item value
			$USER soft rtprio 100
			$USER hard rtprio 100
			</source>
			where ''$USER'' is your username

			* install ''pyserial'' package (needed for SBUS Fakerator), typically with ''sudo install pyserial''


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	<big>Happy flying!</big>		<big>Happy flying!</big>

			[[File:Minon_HITL.png\|500px\|left]]

	[[Category:Simulation]] [[Category:Software]] [[Category:Hardware]] [[Category:Developer_Documentation]]		[[Category:Simulation]] [[Category:Software]] [[Category:Hardware]] [[Category:Developer_Documentation]]

Podhrmic at 17:06, 3 August 2017

2017-08-03T17:06:45Z

@@ Line 33: / Line 33: @@
 ==Configuration==
 HITL can currently run on any [[Category:Autopilots|autopilot]] that has:
-* Serial port for Vectornav INS input
+* Serial port for Vectornav INS input (provides position and orientation data, including GPS coordinates)
 * Serial port for additional high-speed telemetry output (so not your regular 57600 telemetry)
 * other serial/io for regular telemetry, RC input etc.
@@ Line 159: / Line 159: @@
 # Clean and build ''HITL'' target
 # Choose '''HITL USB-serial@57600''' session and Execute
 Messages will pop up and you can verify that you are getting data by looking at the VECTORNAV_INFO message:

Podhrmic: updated HITL description

2017-07-19T16:00:21Z

updated HITL description

Show changes

Podhrmic at 18:59, 7 May 2017

2017-05-07T18:59:29Z

← Older revision		Revision as of 12:59, 7 May 2017
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	=Hardware In The Loop Simulation=		=Hardware In The Loop Simulation=

	Hardware ~~in the loop simulations~~ (HITL) ~~are~~ a way to test an embedded system (the real hardware and software) by simulating its environment, ie. sensor inputs, and comparing its output, ie. actuator outputs, to expected		Hardware In The Loop (HITL) simulation is a way to test an embedded system (the real hardware and software) by simulating its environment, ie. sensor inputs, and comparing its output, ie. actuator outputs, to expected output values.
	output values.

	==Principle==		==Principle==

Mbina at 13:21, 16 September 2013

2013-09-16T13:21:28Z

← Older revision		Revision as of 07:21, 16 September 2013
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	The <tt>hitl_usb.xml</tt> airframe file contains a minimal configuration (it is worth noticing that the useless <tt>servos</tt> section has been removed in this file) of HITL with serial USB.		The <tt>hitl_usb.xml</tt> airframe file contains a minimal configuration (it is worth noticing that the useless <tt>servos</tt> section has been removed in this file) of HITL with serial USB.
	The specific lines of the makefile section are:		The specific lines of the makefile section are:
			{{Box Code\|hitl_usb.xml\|
	<source lang="make">		<source lang="make">
	ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL		ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
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	ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c		ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
	ap.CFLAGS += -DHITL		ap.CFLAGS += -DHITL
	</source>		</source>}}

	Compile it and flash it as usual.		Compile it and flash it as usual.

Mbina at 19:37, 15 September 2013

2013-09-15T19:37:55Z

← Older revision		Revision as of 13:37, 15 September 2013
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	=Hardware In The Loop Simulation=		=Hardware In The Loop Simulation=

			Hardware in the loop simulations (HITL) are a way to test an embedded system (the real hardware and software) by simulating its environment, ie. sensor inputs, and comparing its output, ie. actuator outputs, to expected
			output values.

	==Principle==		==Principle==
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	==Configuration==		==Configuration==
	The airborne code has to be compiled with a specific flag to use these '''HITL''' messages instead of the sensors. The following line must be added in the makefile section of the airframe file (here for a Tiny 1 board where the modem is plugged to the UART0):		The airborne code has to be compiled with a specific flag to use these '''HITL''' messages instead of the sensors.
			The following line must be added in the makefile section of the airframe file (here for a Tiny 1 board where the modem is plugged to the UART0):
			<source lang="make">
	ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600		ap.CFLAGS += -DHITL -UGPS_CONFIGURE -UUART0_BAUD -DUART0_BAUD=B57600
			</source>
	Note that a high baudrate (at least 57600) is required to allow the '''COMMANDS''' messages to be correctly transmitted.		Note that a high baudrate (at least 57600) is required to allow the '''COMMANDS''' messages to be correctly transmitted.

	The code has to be compiled ('''ap''' target) as usual and uploaded to the board. The '''HITL''' A/C entry provides an example of configuration for a Tiny 1 board (set UART1_BAUD for a Tiny 2).		The code has to be compiled ('''ap''' target) as usual and uploaded to the board. The '''HITL''' A/C entry provides an example of configuration for a Tiny 1 board (set UART1_BAUD for a Tiny 2).
			<source lang="xml">
	<aircraft name="HITL" ac_id="7"		<aircraft name="HITL" ac_id="7"
	airframe="airframes/tiny_hitl.xml"		airframe="airframes/tiny_hitl.xml"
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	...		...
	/>		/>
			</source>

	The '''HITL''' session entry gives an example of the corresponding session involving the <tt>simhitl</tt> simulator agent, ran with the <tt>-ac HITL</tt> option (the name of the simulated aircraft), and the standard link, server and GCS. The link can be done with a serial cable (probably through USB) or with the installed modem.		The '''HITL''' session entry gives an example of the corresponding session involving the <tt>simhitl</tt> simulator agent, ran with the <tt>-ac HITL</tt> option (the name of the simulated aircraft), and the standard link, server and GCS. The link can be done with a serial cable (probably through USB) or with the installed modem.
			<source lang="xml" >
	<session name="HITL">		<session name="HITL">
	<program name="Hardware in the Loop">		<program name="Hardware in the Loop">
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	</program>		</program>
	</session>		</session>
			</source>


	==Datalink through the USB link==		==Datalink through the USB link==
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	As explained in this [[DevGuide/USB-Serial\|page]], the USB link (used to flash the board) can replace the serial link. It is probably the easiest way to run a HITL session since a single cable is required between the host and the board. Using a USB powered developement board (such as [http://www.olimex.com/dev/lpc-h2148.html this one]), HITL simulation becomes as easy as the [[Simulation\|SITL one]].		As explained in this [[DevGuide/USB-Serial\|page]], the USB link (used to flash the board) can replace the serial link. It is probably the easiest way to run a HITL session since a single cable is required between the host and the board. Using a USB powered developement board (such as [http://www.olimex.com/dev/lpc-h2148.html this one]), HITL simulation becomes as easy as the [[Simulation\|SITL one]].

	The <tt>hitl_usb.xml</tt> airframe file contains a minimal configuration (it is worth noticing that the useless <tt>servos</tt> section has been removed in this file) of HITL with serial USB. The specific lines of the makefile section		The <tt>hitl_usb.xml</tt> airframe file contains a minimal configuration (it is worth noticing that the useless <tt>servos</tt> section has been removed in this file) of HITL with serial USB.
	are:		The specific lines of the makefile section are:
			<source lang="make">
	ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL		ap.CFLAGS += -DDOWNLINK -DDOWNLINK_TRANSPORT=PprzTransport -DUSE_USB_SERIAL
	ap.CFLAGS += -DDOWNLINK_FBW_DEVICE=UsbS -DDOWNLINK_AP_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ		ap.CFLAGS += -DDOWNLINK_FBW_DEVICE=UsbS -DDOWNLINK_AP_DEVICE=UsbS -DPPRZ_UART=UsbS -DDATALINK=PPRZ
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	ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c		ap.srcs += $(SRC_ARCH)/lpcusb/usbstdreq.c $(SRC_ARCH)/lpcusb/usbinit.c
	ap.CFLAGS += -DHITL		ap.CFLAGS += -DHITL
			</source>

	Compile it and flash it as usual.		Compile it and flash it as usual.

Flixr: simulation category

2013-01-22T14:18:30Z

simulation category

← Older revision		Revision as of 08:18, 22 January 2013
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			<categorytree style="float:right; clear:right; margin-left:1ex; border: 1px solid gray; padding: 0.7ex;" mode=pages>Simulation</categorytree>
			__TOC__

	=Hardware In The Loop Simulation=		=Hardware In The Loop Simulation=

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	The port to use for the '''link''' agent is then <tt>/dev/ttyACM0</tt>		The port to use for the '''link''' agent is then <tt>/dev/ttyACM0</tt>

	[[Category:Software]] [[Category:Hardware]] [[Category:Developer_Documentation]]		[[Category:Simulation]] [[Category:Software]] [[Category:Hardware]] [[Category:Developer_Documentation]]