mirror of https://github.com/ArduPilot/ardupilot
089470a671
this moves out all the high level logic from ArduPlane/ArduCopter to the library. It also adds a "config page", as the last page in the flash. This is used to check if the flash needs erasing. We only erase now if the DF_LOGGING_FORMAT has changed. This patch also adds a public CardInserted() method, which is used to disable logging on APM2 if a dataflash card is not inserted |
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| .. | ||
| include | ||
| support | ||
| Desktop.mk | ||
| Makefile.desktop | ||
| README | ||
README
This provides some support files for building APM on normal desktop
systems. This makes it possible to use debugging tools (such as gdb
and valgrind) on the APM code
The code can then run on the PC instead of on the Arduino board and
simulate the behaviour of the real system by integrating it with
X-Plane of FlightGear to build a Software-In-the-Loop (SIL) simulator.
It will use TCP sockets to communicate between the several software
components (ArduPilot, GCS and Flight simulator). All the ArduPilot
serial ports that get initialised map to separate TCP ports, which
means you can separately test the telemetry port and the main serial
port. It also makes using a debugger easier, as the debugger can use
stdin/stdout.
So the new usage is:
1) build with "make -f ../libraries/Desktop/Makefile.desktop hil"
2) start in a terminal like this: /tmp/ArduPlane.build/ArduPlane.elf
it will say something like this:
Serial port 0 on TCP port 5760
Waiting for connection ....
3) start a GCS, pointing it at localhost:5760. For the current
mavproxy, you would use:
mavproxy.py --master=tcp:localhost:5760
MichaelO has also added support in the GCS mission planner for TCP.
You will see a TCP option in the drop down for the serial port, then
choose port 5760.