mirror of https://github.com/ArduPilot/ardupilot
34 lines
1.3 KiB
Plaintext
34 lines
1.3 KiB
Plaintext
This provides some support files for building APM on normal desktop
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systems. This makes it possible to use debugging tools (such as gdb
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and valgrind) on the APM code
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The code can then run on the PC instead of on the Arduino board and
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simulate the behaviour of the real system by integrating it with
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X-Plane of FlightGear to build a Software-In-the-Loop (SIL) simulator.
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It will use TCP sockets to communicate between the several software
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components (ArduPilot, GCS and Flight simulator). All the ArduPilot
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serial ports that get initialised map to separate TCP ports, which
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means you can separately test the telemetry port and the main serial
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port. It also makes using a debugger easier, as the debugger can use
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stdin/stdout.
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So the new usage is:
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1) build with "make -f ../libraries/Desktop/Makefile.desktop hil"
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2) start in a terminal like this: /tmp/ArduPlane.build/ArduPlane.elf
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it will say something like this:
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Serial port 0 on TCP port 5760
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Waiting for connection ....
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3) start a GCS, pointing it at localhost:5760. For the current
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mavproxy, you would use:
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mavproxy.py --master=tcp:localhost:5760
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MichaelO has also added support in the GCS mission planner for TCP.
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You will see a TCP option in the drop down for the serial port, then
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choose port 5760.
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