Hardware in the loop 2021

elsanto · March 22, 2021, 8:11am

Hi there!

I want to implement a HITL simulation for helicopters using Ardupilot and a Cube Orange. I have seen in some discussions that the firmware for HITL is already discontinued.

It is possible to implement HITL by downgrading the firmware to the last supported version? If so, where could I find it and would it be compatible with the Cube Orange?

Additionally, I have tried with PX4 and it supports HITL, however, the only airframes available are Planes and quadcopters.

amilcarlucas · March 22, 2021, 8:42am

No, HITL is supported again in version 4.1.0-dev.

No need for that, upgrade to 4.1.0-dev

https://firmware.ardupilot.org/Copter/latest/CubeOrange-heli/

peterbarker · March 22, 2021, 9:02am

Rumour has it you can get that sort of effect by passing in external-AHRS
messages.

There are no examples that I know of, sorry.

Source code on the ArduPilot side is

github.com

ardupilot/ardupilot/blob/master/libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp

/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */
/*
  suppport for serial connected AHRS systems
 */

#define ALLOW_DOUBLE_MATH_FUNCTIONS

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realflight1 · November 23, 2021, 7:50pm

Could you please provide more details on hardware in the loop support in 4.1.0-dev? Is it for both ArduPlane and ArduCopter or just ArduPlane? I tried looking for the latest commits, issues, etc. related to HIL / HITL / HWIL but was not able to find any details other than the removal of HIL_MODE (see this pr).

Thanks!

@amilcarlucas