[hitl] rewrite support for hardware in the loop simulation (#3146)

- old way (based on ins_vectornav) is not supported anymore - directly send sensor data and receive commands with a dedicated link - examples with USB link for better results - update sphinx documentation - compilation in a single build
paparazzi · Oct 31, 2023 · 4ae4056 · 4ae4056
1 parent 094997a
commit 4ae4056
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diff --git a/Makefile.ac b/Makefile.ac
@@ -195,16 +195,34 @@ endif
 	@echo "#######################################"
 	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) PAPARAZZI_QT_GEN=$(PAPARAZZI_QT_GEN) TARGET=$* Q=$(Q) $(GENERATORS)/gen_aircraft.out -all -name $(AIRCRAFT) -target $* -conf $(CONF_XML)
 
+# generate headers for HITL as is it was AP target
+hitl.ac_h : $(GENERATORS)/gen_aircraft.out
+	$(Q)if (expr "$(AIRCRAFT)") > /dev/null; then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
+	@echo "#######################################"
+	@echo "# BUILD AIRCRAFT=$(AIRCRAFT), TARGET hitl"
+	@echo "#######################################"
+	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) PAPARAZZI_QT_GEN=$(PAPARAZZI_QT_GEN) TARGET=hitl Q=$(Q) $(GENERATORS)/gen_aircraft.out -airframe -flight_plan -settings -name $(AIRCRAFT) -target hitl -conf $(CONF_XML)
+	$(Q)rm -f $(AIRCRAFT_BUILD_DIR)/Makefile.ac
+	$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) PAPARAZZI_QT_GEN=$(PAPARAZZI_QT_GEN) TARGET=ap Q=$(Q) $(GENERATORS)/gen_aircraft.out -all -name $(AIRCRAFT) -target ap -conf $(CONF_XML)
+
 %.qt: %.ac_h
 	@echo "GENERATED Qt project"
 
 %.compile: %.ac_h | print_version
 	$(MAKE) TARGET=$* -f Makefile.ac all_ac_h
 	cd $(AIRBORNE); $(MAKE) -j$(NPROCS) TARGET=$* all
 
+hitl.compile: hitl.ac_h | print_version
+	$(MAKE) TARGET=ap -f Makefile.ac all_ac_h
+	cd $(AIRBORNE); $(MAKE) -j$(NPROCS) TARGET=ap all
+	cd $(AIRBORNE); $(MAKE) -j$(NPROCS) TARGET=hitl AP_LAUNCH=$(shell grep '<dl_setting ' $(AIRCRAFT_BUILD_DIR)/settings.xml | grep 'autopilot.launch' -n | cut -d ':' -f 1) all
+
 %.upload: %.compile
 	cd $(AIRBORNE); $(MAKE) TARGET=$* upload
 
+hitl.upload: hitl.compile
+	cd $(AIRBORNE); $(MAKE) TARGET=ap upload
+
 clean_ac :
 	$(Q)if (expr "$(AIRCRAFT)") > /dev/null; then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
 	@echo "CLEANING $(AIRCRAFT)"

diff --git a/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml b/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml
@@ -31,17 +31,6 @@ Aggie Air ARK
       <module name="telemetry"   type="transparent"/>
     </target>
 
-    <target name="hitl" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="imu" type="nps"/>
-      <module name="radio_control" type="spektrum"/>
-      <configure name="INS_DEV" value="/dev/ttyUSB1"/>
-      <configure name="INS_BAUD" value="B921600"/>
-      <configure name="AP_DEV" value="/dev/ttyUSB2"/>
-      <configure name="AP_BAUD" value="B921600"/>
-      <module name="telemetry"   type="transparent"/>
-    </target>
-
     <module name="motor_mixing"/>
     <module name="actuators"     type="pwm">
       <define name="SERVO_HZ" value="160"/>

diff --git a/conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml b/conf/airframes/AGGIEAIR/aggieair_atomic_lia.xml
@@ -32,16 +32,6 @@ AggieAir Atomic Tangerine
       <module name="telemetry"   type="transparent"/>
     </target>
 
-    <target name="hitl" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="spektrum"/>
-      <configure name="INS_DEV" value="/dev/ttyUSB1"/>
-      <configure name="INS_BAUD" value="B230400"/>
-      <configure name="AP_DEV" value="/dev/ttyUSB2"/>
-      <configure name="AP_BAUD" value="B921600"/>
-      <module name="telemetry"   type="transparent"/>
-    </target>
-
     <module name="control"/>
     <module name="navigation"/>
 

diff --git a/conf/airframes/AGGIEAIR/aggieair_blujay_goose.xml b/conf/airframes/AGGIEAIR/aggieair_blujay_goose.xml
@@ -27,16 +27,6 @@ AggieAir Blujayujay
       <module name="radio_control" type="spektrum"/>
     </target>
 
-    <target name="hitl" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="imu" type="nps"/>
-      <module name="radio_control" type="spektrum"/>
-      <configure name="INS_DEV" value="/dev/ttyUSB1"/>
-      <configure name="INS_BAUD" value="B921600"/>
-      <configure name="AP_DEV" value="/dev/ttyUSB2"/>
-      <configure name="AP_BAUD" value="B921600"/>
-    </target>
-
     <module name="control"/>
     <module name="navigation"/>
 

diff --git a/conf/airframes/AGGIEAIR/aggieair_control_panel.xml b/conf/airframes/AGGIEAIR/aggieair_control_panel.xml
@@ -195,99 +195,6 @@
      <program name="Real-time Plotter"/>
    </session>
 
-   <session name="HITL USB-serial@57600">
-     <program name="Data Link">
-       <arg flag="-d" constant="/dev/ttyUSB0"/>
-       <arg flag="-s" constant="57600"/>
-     </program>
-     <program name="Server">
-      <arg flag="" constant="-no_md5_check"/>
-     </program>
-     <program name="GCS"/>
-     <program name="Messages"/>
-     <program name="Simulator">
-      <arg flag="-a" constant="@AIRCRAFT"/>
-      <arg flag="-f" constant="127.0.0.1"/>
-      <arg flag="-b" constant="127.255.255.255"/>
-      <arg flag="--fg_fdm" constant=""/>
-      <arg flag="-t" constant="hitl"/>
-     </program>
-     <program name="AggieCap3 Sidekick"/>
-   </session>
-
-   <session name="Secure HITL v2.0 USB-serial@57600">
-     <program name="Secure Link">
-       <arg flag="-d" constant="/dev/ttyUSB0"/>
-       <arg flag="-s" constant="57600"/>
-       <arg flag="-a" constant="@AC_ID"/>
-       <arg flag="-n" constant="@AIRCRAFT"/>
-       <arg flag="-c" />
-       <arg flag="-v" constant="2.0"/>
-     </program>
-     <program name="Server">
-      <arg flag="" constant="-no_md5_check"/>
-     </program>
-     <program name="GCS">
-      <arg flag="-layout" constant="AGGIEAIR/vertical.xml"/>
-     </program>
-     <program name="Messages"/>
-     <program name="Simulator">
-      <arg flag="-a" constant="@AIRCRAFT"/>
-      <arg flag="-f" constant="127.0.0.1"/>
-      <arg flag="-b" constant="127.255.255.255"/>
-      <arg flag="--fg_fdm"/>
-      <arg flag="-t" constant="hitl"/>
-      <arg flag="--nodisplay"/>
-     </program>
-     <program name="AggieCap3 Sidekick"/>
-   </session>
-
-   <session name="Secure HITL v1.0 USB-serial@57600">
-     <program name="Secure Link">
-       <arg flag="-d" constant="/dev/ttyUSB0"/>
-       <arg flag="-s" constant="57600"/>
-       <arg flag="-a" constant="@AC_ID"/>
-       <arg flag="-n" constant="@AIRCRAFT"/>
-       <arg flag="-c" />
-       <arg flag="-v" constant="1.0"/>
-     </program>
-     <program name="Server">
-      <arg flag="" constant="-no_md5_check"/>
-     </program>
-     <program name="GCS">
-      <arg flag="-layout" constant="AGGIEAIR/vertical.xml"/>
-     </program>
-     <program name="Messages"/>
-     <program name="Simulator">
-      <arg flag="-a" constant="@AIRCRAFT"/>
-      <arg flag="-f" constant="127.0.0.1"/>
-      <arg flag="-b" constant="127.255.255.255"/>
-      <arg flag="--fg_fdm"/>
-      <arg flag="-t" constant="hitl"/>
-      <arg flag="--nodisplay"/>
-     </program>
-     <program name="AggieCap3 Sidekick"/>
-   </session>
-
-   <session name="HITL USB-serial@115200">
-     <program name="Data Link">
-       <arg flag="-d" constant="/dev/ttyUSB0"/>
-       <arg flag="-s" constant="115200"/>
-     </program>
-     <program name="Server">
-      <arg flag="" constant="-no_md5_check"/>
-     </program>
-     <program name="GCS"/>
-     <program name="Messages"/>
-     <program name="Simulator">
-      <arg flag="-a" constant="@AIRCRAFT"/>
-      <arg flag="-f" constant="127.0.0.1"/>
-      <arg flag="-b" constant="127.255.255.255"/>
-      <arg flag="--fg_fdm" constant=""/>
-      <arg flag="-t" constant="hitl"/>
-     </program>
-   </session>
-
    <session name="AggieAir Simulation">
      <program name="Data Link">
        <arg flag="-udp"/>
@@ -310,50 +217,6 @@
      <program name="AggieCap3 Sidekick"/>
    </session>
 
-   <session name="HITL+SBUS USB-serial@57600">
-     <program name="Data Link">
-       <arg flag="-d" constant="/dev/ttyUSB0"/>
-       <arg flag="-s" constant="57600"/>
-     </program>
-     <program name="Server">
-      <arg flag="" constant="-no_md5_check"/>
-     </program>
-     <program name="GCS"/>
-     <program name="Messages"/>
-     <program name="Simulator">
-      <arg flag="-a" constant="@AIRCRAFT"/>
-      <arg flag="-f" constant="127.0.0.1"/>
-      <arg flag="-b" constant="127.255.255.255"/>
-      <arg flag="--fg_fdm" constant=""/>
-      <arg flag="-t" constant="hitl"/>
-     </program>
-     <program name="Sbus Fakerator">
-       <arg flag="-p" constant="/dev/ttyUSB3"/>
-     </program>
-   </session>
-
-   <session name="HITL+SBUS USB-serial@115200">
-     <program name="Data Link">
-       <arg flag="-d" constant="/dev/ttyUSB0"/>
-       <arg flag="-s" constant="115200"/>
-     </program>
-     <program name="Server">
-      <arg flag="" constant="-no_md5_check"/>
-     </program>
-     <program name="GCS"/>
-     <program name="Messages"/>
-     <program name="Simulator">
-      <arg flag="-a" constant="@AIRCRAFT"/>
-      <arg flag="-f" constant="127.0.0.1"/>
-      <arg flag="-b" constant="127.255.255.255"/>
-      <arg flag="--fg_fdm" constant=""/>
-      <arg flag="-t" constant="hitl"/>
-     </program>
-     <program name="Sbus Fakerator">
-       <arg flag="-p" constant="/dev/ttyUSB3"/>
-     </program>
-   </session>
-
    <session name="Flight USB-XBee-API@57600">
       <program name="Data Link">
         <arg flag="-d" constant="/dev/paparazzi/xbee"/>

diff --git a/conf/airframes/AGGIEAIR/aggieair_el_captitan_lia.xml b/conf/airframes/AGGIEAIR/aggieair_el_captitan_lia.xml
@@ -32,16 +32,6 @@ AggieAir El Capitan
       <module name="telemetry"   type="transparent"/>
     </target>
 
-    <target name="hitl" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="spektrum"/>
-      <configure name="INS_DEV" value="/dev/ttyUSB1"/>
-      <configure name="INS_BAUD" value="B230400"/>
-      <configure name="AP_DEV" value="/dev/ttyUSB2"/>
-      <configure name="AP_BAUD" value="B921600"/>
-      <module name="telemetry"   type="transparent"/>
-    </target>
-
     <module name="control"/>
     <module name="navigation"/>
 

diff --git a/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml b/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml
@@ -27,15 +27,6 @@ AggieAir RP3 Minion
       <module name="radio_control" type="spektrum"/>
     </target>
 
-    <target name="hitl" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="spektrum"/>
-      <configure name="INS_DEV" value="/dev/ttyUSB1"/>
-      <configure name="INS_BAUD" value="B921600"/>
-      <configure name="AP_DEV" value="/dev/ttyUSB2"/>
-      <configure name="AP_BAUD" value="B921600"/>
-    </target>
-
     <module name="control"/>
     <module name="navigation"/>
 

diff --git a/conf/airframes/AGGIEAIR/aggieair_minionsim_lia.xml b/conf/airframes/AGGIEAIR/aggieair_minionsim_lia.xml
@@ -33,16 +33,6 @@ AggieAir Minion Sim
       <module name="telemetry"   type="transparent"/>
     </target>
 
-    <target name="hitl" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="spektrum"/>
-      <configure name="INS_DEV" value="/dev/ttyUSB1"/>
-      <configure name="INS_BAUD" value="B230400"/>
-      <configure name="AP_DEV" value="/dev/ttyUSB2"/>
-      <configure name="AP_BAUD" value="B921600"/>
-      <module name="telemetry"   type="transparent"/>
-    </target>
-
     <module name="control"/>
     <module name="navigation"/>
 

diff --git a/conf/airframes/AGGIEAIR/aggieair_minty_lia.xml b/conf/airframes/AGGIEAIR/aggieair_minty_lia.xml
@@ -32,16 +32,6 @@ AggieAir Minty Fresh
       <module name="telemetry"   type="transparent"/>
     </target>
 
-    <target name="hitl" board="pc">
-      <module name="fdm" type="jsbsim"/>
-      <module name="radio_control" type="spektrum"/>
-      <configure name="INS_DEV" value="/dev/ttyUSB1"/>
-      <configure name="INS_BAUD" value="B230400"/>
-      <configure name="AP_DEV" value="/dev/ttyUSB2"/>
-      <configure name="AP_BAUD" value="B921600"/>
-      <module name="telemetry"   type="transparent"/>
-    </target>
-
     <module name="control"/>
     <module name="navigation"/>