mirror of https://github.com/ArduPilot/ardupilot
81 lines
2.4 KiB
Markdown
81 lines
2.4 KiB
Markdown
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# SITL-on-HW notes
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## Compiling and flashing
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Run the sitl-on-hw.sh script to compile and flash for MatekH743. Adjust for your own board if required before running. This script will configure a build ready for running SITL-on-hardware and attempt to upload it to a connected board. It includes a set of embedded parameters to configure the simulated sensors appropriately.
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::
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cd $HOME/ardupilot
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./libraries/SITL/examples/on-hardware/sitl-on-hw.py --board MatekH743 --vehicle copter
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Plane can also be simulated:
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::
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cd $HOME/ardupilot
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./libraries/SITL/examples/on-hardware/sitl-on-hw.py --board MatekH743 --vehicle plane
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and quadplane:
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::
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cd $HOME/ardupilot
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./libraries/SITL/examples/on-hardware/sitl-on-hw.py --board MatekH743 --vehicle plane --simclass QuadPlane
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## Configuring
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Wipe the parameters on the board; this can be done with a mavlink command, or by setting the FORMAT_VERSION parameter to 0.
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For example:
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STABILIZE> wipe_parameters IREALLYMEAANIT
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STABILIZE> Got COMMAND_ACK: PREFLIGHT_STORAGE: ACCEPTED
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AP: All parameters reset, reboot board
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reboot
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You may need to power-cycle the board at this point.
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::
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Device /dev/serial/by-id/usb-ArduPilot_MatekH743_3A0019001051393036353035-if00 reopened OK
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link 1 OK
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heartbeat OK
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disabling flow control on serial 2
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AP: Calibrating barometer
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AP: Barometer 1 calibration complete
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AP: Barometer 2 calibration complete
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Init Gyro**
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AP: ArduPilot Ready
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Suggested EK3_BCOEF_* = 16.288, EK3_MCOEF = 0.208
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Home: -35.36326 149.1652 alt=584.0000m hdg=353.0000
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Smoothing reset at 0.001
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AP: RCOut: PWM:1-13
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AP: GPS 1: detected as SITL at 115200 baud
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Time has wrapped
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Time has wrapped 5577 368458
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AP: EKF3 IMU0 initialised
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AP: EKF3 IMU1 initialised
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AP: EKF3 IMU0 tilt alignment complete
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AP: EKF3 IMU1 tilt alignment complete
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AP: EKF3 IMU1 MAG0 initial yaw alignment complete
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AP: EKF3 IMU0 MAG0 initial yaw alignment complete
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AP: PERF: 0/3999 [2653:2349] F=400Hz sd=39 Ex=0
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AP: EKF3 IMU1 forced reset
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AP: EKF3 IMU1 initialised
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AP: EKF3 IMU0 forced reset
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AP: EKF3 IMU0 initialised
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AP: EKF3 IMU1 tilt alignment complete
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AP: EKF3 IMU0 tilt alignment complete
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AP: EKF3 IMU1 MAG0 initial yaw alignment complete
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AP: EKF3 IMU0 MAG0 initial yaw alignment complete
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AP: PreArm: 3D Accel calibration needed
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AP: PERF: 0/4000 [2631:2369] F=400Hz sd=5 Ex=0
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AP: EKF3 IMU0 origin set
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AP: EKF3 IMU1 origin set
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AP: PERF: 0/4000 [2639:2362] F=400Hz sd=7 Ex=0
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Force
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