I’ve been tasked with getting HIL mode working with the ArduCopter firmware. Currently my setup is a PX4 based Avionics board and I’m planning on using the QRO-X model, discussed in the link, in X-Plane 10 for my simulation environment. I’m currently using a custom GCS for my controller and can send sensor data through the GCS or through another program which connects via USB to the APM in my hardware set-up.
I want to know several things regarding the deprecated HIL_MODE and my understanding is mostly from reading other forum posts as to what the issues with having HIL_MODE not working.
What has caused HIL_MODE to stop working since the introduction of Inertial Navigation? This article from the ArduPilot source archive states that since 2.9 the HIL mode hasn’t been supported. Specifically I want to know if this is a technical limitation of the Inertial Navigation or was not updated due a lack of interest in the HIL mode for Copter.
Is there a better simulation environment I could/should use? I’m currently using the X-Plane 10 environment because my group was able to get it working with the HIL for ArduPlane using the Hilstar glider. I’ve read a couple differing posts on building my own quadcopter on X-plane forums and have seen Gazebo as a recommended simulator for Quads in SITL. Any guidance or advice on simulation environment is appreciated.
What guidance on Parameter setting can I find on the site for HIL_MODE? Thr QRO_X model I’m planning to use came with two sets of parameters and I’m not sure which is appropriate, so I’d like to have something to give me a better understanding of the parameters with respect to HIL_Mode.
Any modifications I make to the firmware to get this working will be pushed back into the main project for others to use.