Tools: move SITL on HW to Tools and simplify config

Tools/scripts/sitl-on-hardware/README.md

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

Tools/scripts/sitl-on-hardware/default.param

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+AHRS_EKF_TYPE 10
+
+GPS_TYPE 100
+
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
+INS_ACC2OFFS_X   0.001
+INS_ACC2OFFS_Y   0.001
+INS_ACC2OFFS_Z   0.001
+INS_ACC2SCAL_X   1.001
+INS_ACC2SCAL_Y   1.001
+INS_ACC2SCAL_Z   1.001
+
+
+
+SIM_MAG1_DEVID 97539
+
+
+SIM_RATE_HZ 400
+SCHED_LOOP_RATE 400
+
+BRD_RTC_TYPES 2
+BRD_HEAT_TARG 25
+BRD_SAFETY_DEFLT 0

Tools/scripts/sitl-on-hardware/extra-hwdef-sitl-on-hw.dat

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+env SIM_ENABLED 1
+
+define INS_MAX_INSTANCES 2
+define HAL_COMPASS_MAX_SENSORS 2
+
+define AP_GPS_BACKEND_DEFAULT_ENABLED 0
+define AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED 0
+
+define HAL_NAVEKF2_AVAILABLE 0
+define EK3_FEATURE_BODY_ODOM 0
+define EK3_FEATURE_EXTERNAL_NAV 0
+define EK3_FEATURE_DRAG_FUSION 0
+define HAL_ADSB_ENABLED 0
+define HAL_PROXIMITY_ENABLED 0
+define HAL_VISUALODOM_ENABLED 0
+define HAL_GENERATOR_ENABLED 0
+
+define MODE_SPORT_ENABLED 0
+define MODE_THROW_ENABLED 0
+define MODE_TURTLE_ENABLED 0
+define MODE_FLOWHOLD 0
+define MODE_POSHOLD_ENABLED 0
+define MODE_SYSTEMID_ENABLED 0
+define MODE_ACRO_ENABLED 0
+define MODE_FOLLOW_ENABLED 0
+define MODE_FLIP_ENABLED 0
+define MODE_DRIFT_ENABLED 0
+define MODE_THROW_ENABLED 0
+
+
+define HAL_MSP_OPTICALFLOW_ENABLED 0
+define HAL_SUPPORT_RCOUT_SERIAL 0
+define HAL_HOTT_TELEM_ENABLED 0
+define HAL_HIGH_LATENCY2 0
+
+define AP_SIM_INS_FILE_ENABLED 0

Tools/scripts/sitl-on-hardware/plane-default.param

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+AHRS_EKF_TYPE 10
+
+GPS_TYPE 100
+
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
+INS_ACC2OFFS_X   0.001
+INS_ACC2OFFS_Y   0.001
+INS_ACC2OFFS_Z   0.001
+INS_ACC2SCAL_X   1.001
+INS_ACC2SCAL_Y   1.001
+INS_ACC2SCAL_Z   1.001
+
+
+SIM_MAG1_DEVID 97539
+
+
+SIM_RATE_HZ 400
+SCHED_LOOP_RATE 400
+
+BRD_RTC_TYPES 2
+BRD_HEAT_TARG 25
+BRD_SAFETY_DEFLT 0
+
+SERVO3_MIN 1000
+SERVO3_MAX 2000

Tools/scripts/sitl-on-hardware/plane-extra-hwdef-sitl-on-hw.dat

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+env SIM_ENABLED 1
+
+define INS_MAX_INSTANCES 2
+define HAL_COMPASS_MAX_SENSORS 2
+
+define AP_GPS_BACKEND_DEFAULT_ENABLED 0
+define AP_RANGEFINDER_BACKEND_DEFAULT_ENABLED 0
+
+define HAL_NAVEKF2_AVAILABLE 0
+define EK3_FEATURE_BODY_ODOM 0
+define EK3_FEATURE_EXTERNAL_NAV 0
+define EK3_FEATURE_DRAG_FUSION 0
+define HAL_ADSB_ENABLED 0
+define HAL_PROXIMITY_ENABLED 0
+define HAL_VISUALODOM_ENABLED 0
+define HAL_GENERATOR_ENABLED 0
+
+define HAL_MSP_OPTICALFLOW_ENABLED 0
+define HAL_SUPPORT_RCOUT_SERIAL 0
+define HAL_HOTT_TELEM_ENABLED 0
+define HAL_HIGH_LATENCY2 0
+
+define AP_SIM_INS_FILE_ENABLED 0

Tools/scripts/sitl-on-hardware/sitl-on-hw.py

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+#!/usr/bin/env python3
+'''
+script to build a firmware for SITL-on-hardware
+see https://ardupilot.org/dev/docs/sim-on-hardware.html
+'''
+
+import subprocess
+import sys
+import os
+import tempfile
+
+from argparse import ArgumentParser
+parser = ArgumentParser("SITL on hardware builder")
+parser.add_argument("--board", default=None, help="board type")
+parser.add_argument("--vehicle", default=None, help="vehicle type")
+parser.add_argument("--frame", default=None, help="frame type")
+parser.add_argument("--simclass", default=None, help="simulation class")
+parser.add_argument("--defaults", default=None, help="extra defaults file")
+parser.add_argument("--upload", action='store_true', default=False, help="upload firmware")
+
+args, unknown_args = parser.parse_known_args()
+
+extra_hwdef = None
+
+def run_program(cmd_list):
+    '''run a program from a command list'''
+    print("Running (%s)" % " ".join(cmd_list))
+    retcode = subprocess.call(cmd_list)
+    if retcode != 0:
+       print("FAILED: %s" % (' '.join(cmd_list)))
+       global extra_hwdef
+       if extra_hwdef is not None:
+           extra_hwdef.close()
+           os.unlink(extra_hwdef.name)
+       sys.exit(1)
+
+extra_hwdef = tempfile.NamedTemporaryFile(mode='w')
+extra_defaults = tempfile.NamedTemporaryFile(mode='w')
+
+def hwdef_write(s):
+    '''write to the hwdef temp file'''
+    extra_hwdef.write(s)
+
+def defaults_write(s):
+    '''write to the hwdef temp file'''
+    extra_defaults.write(s)
+
+def sohw_path(fname):
+    '''get path to a file in on-hardware directory'''
+    return os.path.join(os.path.dirname(os.path.realpath(__file__)), fname)
+
+if args.vehicle == "plane":
+    extra_hwdef_base = "plane-extra-hwdef-sitl-on-hw.dat"
+    defaults_base = "plane-default.param"
+else:
+    extra_hwdef_base = "extra-hwdef-sitl-on-hw.dat"
+    defaults_base = "default.param"
+
+# add base hwdef to extra_hwdef
+hwdef_write(open(sohw_path(extra_hwdef_base), "r").read() + "\n")
+
+# add base defaults to extra_defaults
+defaults_write(open(sohw_path(defaults_base), "r").read() + "\n")
+
+if args.defaults:
+    defaults_write(open(args.defaults,"r").read() + "\n")
+
+if args.simclass:
+    hwdef_write("define AP_SIM_FRAME_CLASS %s\n" % args.simclass)
+if args.frame:
+    hwdef_write('define AP_SIM_FRAME_STRING "%s"\n' % args.frame)
+
+extra_hwdef.flush()
+extra_defaults.flush()
+
+configure_args = ["./waf", "configure",
+                  "--board=%s" % args.board,
+                  "--extra-hwdef=%s" % extra_hwdef.name,
+                  "--default-param=%s" % extra_defaults.name]
+configure_args.extend(unknown_args)
+run_program(configure_args)
+
+build_cmd = ["./waf", args.vehicle]
+if args.upload:
+   build_cmd.append("--upload")
+
+run_program(build_cmd)
+
+# cleanup
+extra_hwdef.close()
+

Tools/scripts/sitl-on-hardware/some.script

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+rc 1 1500
+rc 2 1500
+rc 3 1000
+rc 4 1500
+rc 5 2000