Replies to This Discussion

Permalink Reply by leonardo.bueno on January 2, 2012 at 2:12pm

Rephrasing my questions to make them easier to answer...

1) When doing a SITL simulation, do I need to change the PID parameters?

2) The current ArduPilot version in the trunk is stable enough for the SITL simulation?

Thanks,

Leonardo Bueno

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Permalink Reply by Niklas Goddemeier on January 7, 2012 at 6:31pm

Hi Leonardo,

I am seeing very similar effects. Did you have any success so far?

Greetings,

Niklas

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Permalink Reply by leonardo.bueno on January 7, 2012 at 11:45pm

Hi Niklas,

     Had no success so far... I even tried with the stable branch and also with the files from the ArduPlane 2.27 distribution zip as well and it didn't work.

Regards,

Leonardo

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DeveloperPermalink Reply by Michael Oborne on January 7, 2012 at 6:49pm

what command did you use to compile the image?

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Permalink Reply by leonardo.bueno on January 8, 2012 at 12:05am

Hi Micheal,

    I've followed the instructions from the wiki:

 cd ArduPlane
 make -f ../libraries/Desktop/Makefile.desktop

 I've tried it multiple times, sometimes using -j 5 flag to speed up the process. Just to make sure the -j 5 was not causing some problem I did one more clean/build right now and the results are the same.

Regards,

Leonardo

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Permalink Reply by Niklas Goddemeier on January 8, 2012 at 4:07am

Hi Micheal,

I also tried the current git version and ArduPlane 2.27. For JSBSim I am using the git version from https://github.com/tridge/jsbsim.

I compile with

make -f ../libraries/Desktop/Makefile.desktop

on a Debian Squeeze. Even if I get the plane stable in the air with respect to pitch and roll the yaw axis never stabilizes.

Greetings,

Niklas

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DeveloperPermalink Reply by Michael Oborne on January 8, 2012 at 5:02am

are you on windows or linux?  i have a method that wil lwork for on windows and SITL, but using attitude hil not sensor level hil

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Permalink Reply by leonardo.bueno on January 8, 2012 at 6:24am

I'm on windows using cygwin.

Thanks!

Leonardo

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DeveloperPermalink Reply by Michael Oborne on January 8, 2012 at 6:30am

just build using

make -f ../libraries/Desktop/Makefile.desktop hil

 

and use the normal xplanes hil setup guide

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Permalink Reply by leonardo.bueno on January 8, 2012 at 7:51am

Building with the hil target failed:

/tmp/ArduPlane.build/libraries/Desktop/support/sitl_barometer.o: In function `_Z21sitl_update_barometerf':
/cygdrive/c/Users/leonardo/Projetos/ardupilot-mega/ardupilot-mega/libraries/Desktop/support/sitl_barometer.cpp:35: undefined reference to `_barometer'
collect2: ld returned 1 exit status

As the hil code probably doesn't uses this, I just commented out the code from sitl_barometer.cpp and managed to build it. Just need to finish the 3Gb download of x-plane now to test it.

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Permalink Reply by Niklas Goddemeier on January 8, 2012 at 9:38am

nice, this works like a charm. I have the code running on my linux box and x-plane on the windows maschine. I also had the issue with the undefinded ref. to barometer but other than that its fine.

Would love to get JSBSim working on linux equally well. I will play with it a bit more. Thank you very much for the help!

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Permalink Reply by Niklas Goddemeier on January 8, 2012 at 6:31am

well, I am using both but would prefer linux. I am working on a software that runs on an embedded pc on the drone and interfaces ArduPlane / ArduCopter over the telemetry port using MAVLink. For Debugging and development I just need a simulation that offers me that telemetry port with realistic data. HIL has worked great so far and I would love to use SIL now. If it is easier for now to run the SIL on windows that’s fine and I would be happy to try it and see how far I get.

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