I wanted to run the yaapu script on my Horus while using SITL. I haven’t seen this documented anywhere so here’s what I did.
The MavlinkToPassthru program runs in “Air Mode” on a Teensy32 Arduino. It converts MAVLink telemetry from the USB port on the SITL computer via an FTDI cable to FrSky telemetry which is sent to the S.Port pin on an FrSky receiver. The Horus is bound to this receiver. Both the receiver and the Arduino run from the 5V line in the FTDI cable.
The MavlinkToPassthru repository has a binary for the Teensy32 so setting this up was just a matter of loading the binary using the Arduino IDE.
In a second USB port I have an FrSky XSR-SIM dongle, bound to the same Horus model, with SITL configured to use this as joystick input.
This would all be simpler if the S.Port pin on the XSR-SIM worked for telemetry, but as far as I can tell it doesn’t at the moment.
