Hi. I just got HIL sim to work on my APM1. I use APM planner 1.1.80 and Flightgear 2.6.0.
I have some oscillation as can be seen below:
Here are my gains
Do you have a preffered way of tuning the D and I factors? I would like it to hit the WP, turn sharply and no overshoot or crossleg ringing around the leg its following to the next WP.
(I found out that you need to have a PWM signal present on the RX input pins(s) for the APM1 to work with HIL firmware by the way. I tried with the PC connected joystick control and no radio connected to the APM1. Then the APM1 would not stabilize or follow WPs at all in auto mode.).
Here is my HIL setup on two monitors.
Replies
hi!
I am running into trouble with APM HIL with Flight gear too. When I use my RC controller to center the sticks initially(to set the trim, then I switch it off), the simulation runs well(follows waypoints with some oscillations). But, without the RC controller altogether, I could find no way to center the stick(it is not taking input from the keyboard, just jitters the sticks when I try to center the stick with laptop keys).
ps. Where did you hear ' you need to have a PWM signal present on the RX input pins(s) for the APM1 to work with HIL firmware by the way', it comes as a news to me!