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Hi everyone,

I'm a ardupilot newbie and I'm trying to get hardware in-loop simulation working with flightgear (on Ubuntu Linux) for my quadcopter (the aim is to learn a little bit how to fly before I finish building my own real craft).

missionplanner is successfully connected to my APM 2.5+ (used it to confirm my servo connections) and I've flashed the simulator firmware.

I've copied the protocol and model definitions into the right places. Connect to apm, start fg using the button in missionplanner and then start the simlink.

The quadcopter model in flightgear just sits there without propellers spinning and won't move. The time does appear to change when I start the simlink, because it flips to nighttime. And I've confirmed that the udp packets are being transmitted on localhost as expected.

I've tried pressing "s" to start the quadcopter in flightgear (as I read somewhere) but no change. "v" does indeed change the view.

Not sure if related, but missionplanner is outputing the following error on the terminal in a fast loop whenever the simlink is running:

INFO ArdupilotMega.GCSViews.Simulation - Quad hill error System.ArgumentOutOfRangeException: Must be greater than zero.
Parameter name: sigma
at ArdupilotMega.HIL.GaussianRandom.NextGaussian (Double mu, Double sigma) [0x00000] in <filename unknown>:0
at ArdupilotMega.HIL.Wind.current (Double deltat, System.Double& speed, System.Double& direction) [0x00000] in <filename unknown>:0
at ArdupilotMega.HIL.Wind.drag (ArdupilotMega.HIL.Vector3 velocity, Double deltat) [0x00000] in <filename unknown>:0
at ArdupilotMega.HIL.QuadCopter.update (System.Double[]& servos, FGNetFDM fdm) [0x00000] in <filename unknown>:0
at ArdupilotMega.GCSViews.Simulation.processArduPilot () [0x00000] in <filename unknown>:0

Can anyone help?