I have been trying to get Hardware in the Loop working using PixHawk, Mission Planner and FlightGear to no avail. The instruction at http://ardupilot.org/dev/docs/flightgear-hardware-in-the-loop-simulation.html do not work. I think they may have been targeted to a very old version of the software.
Step 2 in the instruction call out Mavlink.xml. I'm not sure why this is needed. I'm connecting the PixHawk to my PC using a USB cable. I am expecting Mission Planner and the PixHawk can communicate over USB and speak MAVLink to each other without Mavlink.xml.
Step 4 of the instruction call out installing Plane v2.68. I would like to run the latest stable Ardupilot software. There is a parameter "MAV_Mode_Flag_HIL_Enabled". I am assuming this has been added to the Plane software to allow you to use a more current version of Plane.
Any help in getting this work would be greatly appreciated.
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