Hello,

I've been trying to set up a control system test bench. Basically, I use to study the impact of data filtering algorithms on the control of fixed-wing drones. It occurred to me that I could utilize the SITL and HITL features of the ArduPilot project.

The plan is to first use X-Plane 11 to simulate the aircraft and then export the data from X-Plane to Matlab and process the data and then feed that to ArduPilot. A bit like this:

Matlab will basically function as a data filter. The idea seems simple enough but I would really appreciate some help/suggestions with a few issues. They are as follows:

1. What is the simplest way of installing the Ardupilot SITL on Windows? Don't get me wrong, I found this link and this other link which explains the process step my step. However, I won't get to install it myself. This will be on a university owned windows machine and I have to request the IT people there to do that for me. Which means that the instructions I provide them must reflect exactly what I want.

Any suggestions as to which link I should forward to them and what I should add or omit?

2. Is the Mission Planner necessary or useful? If an ArduPilot hardware emulator is built into the mission planner, couldn't I use that instead? That's assuming that the installation process for that is simple.

3. I have read somewhere in the ArduPilot wiki that an Extended Kalman Filter(EKF) is utilized within the code to filter the data. That gets in the way of my research. I guess my question about his one is if the platform will still function if I change the code to make it not use the EKF.

4. For the HITL, I have a few questions. I just realized that APM 2.X has been discontinued. What would you recommend as a simple but good alternative to run the code on and feed it back to X-Plane? Also, given how all the data will be "faked" by X-Plane, do I even need to get the full system? Shouldn't the microcontroller alone do the job?

Thanks for reading. Any help with sorting this out will be greatly appreciated.

Safat

Views: 100

Reply to This

Replies to This Discussion

I do not have the answers to your questions, but I am interested in hearing the answers.  I am working on  a project that would benefit from these details.  I'll let you know if I get any details from elsewhere.


Hi Caleb,

What I've learned so far is that things aren't as simple as they seem. There are some issues involving mismatch of timing between the simulator (X-Plane) and the controller (SITL or HITL ArduPilot). What are you working on?


Caleb said:

I do not have the answers to your questions, but I am interested in hearing the answers.  I am working on  a project that would benefit from these details.  I'll let you know if I get any details from elsewhere.

Isn't that always how it is lol.  Did you get the SITL and HITL setup though?

I just posted here:  http://diydrones.com/forum/topics/sensor-fusion-for-ardupilot-acade...


Safat Khan said:


Hi Caleb,

What I've learned so far is that things aren't as simple as they seem. There are some issues involving mismatch of timing between the simulator (X-Plane) and the controller (SITL or HITL ArduPilot). What are you working on?


Caleb said:

I do not have the answers to your questions, but I am interested in hearing the answers.  I am working on  a project that would benefit from these details.  I'll let you know if I get any details from elsewhere.

I did not set it up yet but it can be done in one sitting. There are 2 major obstacles though. They are:

1. I'll have to set them up on university machines which means that I won't get to do them but will have to write to the IT people explaining exactly how and in what order to install the software. ArduPilot SITL is not a simple install as it is.

2. The timing issue I've referred to earlier will mess with my test of various data filtering algorithm.

Caleb said:

Isn't that always how it is lol.  Did you get the SITL and HITL setup though?

I just posted here:  http://diydrones.com/forum/topics/sensor-fusion-for-ardupilot-acade...


Safat Khan said:


Hi Caleb,

What I've learned so far is that things aren't as simple as they seem. There are some issues involving mismatch of timing between the simulator (X-Plane) and the controller (SITL or HITL ArduPilot). What are you working on?


Caleb said:

I do not have the answers to your questions, but I am interested in hearing the answers.  I am working on  a project that would benefit from these details.  I'll let you know if I get any details from elsewhere.

Reply to Discussion

RSS

© 2017   Created by Chris Anderson.   Powered by

Badges  |  Report an Issue  |  Terms of Service