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Performing HIL Simulation with Custom Firmware

Posted by Jon Mullen on January 28, 2014 at 2:42pm

Hi,

I am interested in doing hardware-in-the-loop simulation with my ArduPilot Mega 2.5. We are developing a new controller architecture and I have implemented it in some firmware changes I've made.

When I look for information about HIL simulation, I mostly see people download a version of the firmware meant to do the simulation. My question is, is creating an HIL version as simple as changing these parameters:

#define HIL_MODE                          HIL_MODE_DISABLED    (to HIL_MODE_SENSORS)
#define HIL_PORT                           0   (to 3 for USB, or still 0?)
#define HIL_PROTOCOL                  HIL_PROTOCOL_MAVLINK

Could I just modify my custom firmware to include these changes, and load it as a hex the way I've been loading any custom firmware?

Also, do I have to use FlightGear (not Xplane) if I want the plane to know the raw sensor values? Or is that just a protocol issue?

Cheers!
Jon
University of Kentucky

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Replies

Agus Prayudi March 16, 2019 at 8:07am

hello, i want to ask to you, now i activate hil mode from source code and build that, but in parameter is still 0 for hil mode

Menno Hochstenbach said:

For ArduPlane is assume? ->

Uncomment or add these lines to APM_Config.h file:

#define HIL_MODE              HIL_MODE_SENSORS
#define HIL_PROTOCOL      HIL_PROTOCOL_MAVLINK
#define HIL_PORT                0

Then just upload this custom code with ArduPilot Arduino IDE to your ArduPilot and it should work..

Performing HIL Simulation with Custom Firmware

Hi, I am interested in doing hardware-in-the-loop simulation with my ArduPilot Mega 2.5. We are developing a new controller architecture and I have…
Aakash Dawadee May 5, 2014 at 1:34am

Hi Jon,

Did you get solution for this? I am looking for a solution to similar problem. I need to use my modified code to work with HIL. Please help if you have a solution.
- Jon Mullen > Aakash Dawadee May 6, 2014 at 8:03pm
  
  Sorry to drop the thread.
  
  I did manage to get HIL simulation working with my customized version of the 2.74b firmware and Flightgear. In my APM_Config.h file I put
  
  #define HIL_MODE HIL_MODE_SENSORS
  #define HIL_PORT 0
  #define GPS_PROTOCOL GPS_PROTOCOL_HIL
  
  It worked very well with the exception of the airspeed. Although the airspeed appeared in Mission Planner, the hardware did not appear to be receiving it. I managed to simulate AUTO mode by forcing the plane to use constant throttle (change min and max to same value).
Menno Hochstenbach April 1, 2014 at 2:29pm

Are you using ArduCopter or ArduPlane? For ArduPlane it should work, check: https://www.youtube.com/watch?v=tKr2C_Lrq_4.

Menno
- Aakash Dawadee > Menno Hochstenbach May 5, 2014 at 1:35am
  
  Hi Menno,
  
  This video describes HIL with built in code. I am looking for solution with my modified code. Please help if you have solution.
  - Menno Hochstenbach > Aakash Dawadee May 5, 2014 at 5:24am
    
    For ArduPlane is assume? ->
    
    Uncomment or add these lines to APM_Config.h file:
    
    #define HIL_MODE              HIL_MODE_SENSORS
    #define HIL_PROTOCOL      HIL_PROTOCOL_MAVLINK
    #define HIL_PORT                0
    
    Then just upload this custom code with ArduPilot Arduino IDE to your ArduPilot and it should work..
Menno Hochstenbach March 14, 2014 at 6:28am

Hi,

Have you already found a solution to do HIL with custom firmware because I want to do it to :)

Menno