SITL: add on-hardware example files

libraries/SITL/examples/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.sh
+
+## 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 

libraries/SITL/examples/on-hardware/default.param

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+AHRS_EKF_TYPE 10
+
+ATC_RAT_YAW_P 0.09
+ATC_RAT_YAW_I 0.009
+
+BATT_MONITOR    0
+
+COMPASS_OFS_X   5
+COMPASS_OFS_Y   13
+COMPASS_OFS_Z   -18
+COMPASS_OFS2_X   5
+COMPASS_OFS2_Y   13
+COMPASS_OFS2_Z   -18
+
+FENCE_RADIUS    150
+
+FRAME_TYPE	0
+FRAME_CLASS     1
+
+FS_THR_ENABLE   1
+
+RC7_OPTION      7
+
+FLTMODE1        7
+FLTMODE2        9
+FLTMODE3        6
+FLTMODE4        3
+FLTMODE5        5
+FLTMODE6		0
+
+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
+
+MOT_THST_EXPO   0.65
+MOT_THST_HOVER  0.39
+MOT_BAT_VOLT_MIN 9.6
+MOT_BAT_VOLT_MAX 12.8
+
+SCHED_DEBUG 0
+
+SIM_MAG1_DEVID 97539
+SIM_BARO_RND    0
+
+SIM_RATE_HZ 400
+SCHED_LOOP_RATE 400
+
+BRD_RTC_TYPES 2

libraries/SITL/examples/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 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_MOUNT_ENABLED 0
+define HAL_PROXIMITY_ENABLED 0
+define HAL_VISUALODOM_ENABLED 0
+define HAL_GENERATOR_ENABLED 0
+# define HAL_LOGGING_ENABLED 0
+define HAL_CRSF_TELEM_ENABLED 0
+#define OSD_ENABLED 0
+define FRAME_HEXA 0
+define FRAME_OCTA 0
+define FRAME_DODECAHEXA 0
+define FRAME_Y6 0
+define FRAME_OCTAQUAD 0
+
+define MODE_SMARTRTL_ENABLED 0
+define MODE_SPORT_ENABLED 0
+# define MODE_CIRCLE_ENABLED 0
+define MODE_THROW_ENABLED 0
+define MODE_TURTLE_ENABLED 0
+define MODE_ZIGZAG_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 LANDING_GEAR_ENABLED 0
+define HAL_MSP_OPTICALFLOW_ENABLED 0
+define HAL_SUPPORT_RCOUT_SERIAL 0
+define HAL_HOTT_TELEM_ENABLED 0
+# define HAL_WITH_DSP 0
+
+
+define HAL_HIGH_LATENCY2 0

libraries/SITL/examples/on-hardware/sitl-on-hw.sh

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+#!/bin/bash
+
+set -e
+set -x
+
+BOARD=NucleoH743
+BOARD=MatekH743
+#BOARD=F35Lightning
+
+THISDIR=$(dirname $0)
+
+./waf configure \
+      --board=$BOARD \
+      --extra-hwdef="$THISDIR/extra-hwdef-sitl-on-hw.dat" \
+      --default-param="$THISDIR/default.param"
+
+./waf copter --upload

libraries/SITL/examples/on-hardware/some.script

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