ardupilot/Tools/scripts/sitl-on-hardware

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
./Tools/scripts/sitl-on-hardware/sitl-on-hw.py --board	MatekH743 --vehicle copter

Plane can also be simulated:

::

cd $HOME/ardupilot
./Tools/scripts/sitl-on-hardware/sitl-on-hw.py --board MatekH743 --vehicle plane

and quadplane:

::

cd $HOME/ardupilot
./Tools/scripts/sitl-on-hardware/sitl-on-hw.py --board MatekH743 --vehicle plane --simclass QuadPlane

Copter :

Only the default quad frame is enable by default, to enable another frame type, you need to enable the right compile flag : e.g. for octa-quad frame, AP_MOTORS_FRAME_OCTAQUAD_ENABLED 1 in the hwdef file. Compile flags list is in AP_Motors_class.h Passing --frame parameter will enable the right compile flag for you.

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