The Ardupilot FG Control for the Flight Gear Simulator

The ArduFGControl is a PC application which allows you to test and tune your Ardupilot CPU board with the Flight Gear Simulator. FlightGear is a free and an open source flight simulator developped by Curtis Olson. The ArduFGControl is a gateway between the Ardupilot board through the FTDI cable (com port) with FlightGear through the network UDP ports. The FlightGear model used here is a Rascal 110
So, with this application you may test at home your Ardupilot during this cold winter...

The full software can be downloaded at : http://code.google.com/p/ardupilotdev/downloads/list

Tested on Windows Vista SP2 on Intel(R) Core(TM)2 Duo CPU T250 @2.00 Ghz ( perf ind: 4.8 )

Have fun,
Jean-Louis Naudin

Views: 3731

Comment by Paul Mather on December 6, 2009 at 7:55am
Very nice Jean-Louis! I'm going to have to give this a try!!!!!

Developer
Comment by Mark Colwell on December 6, 2009 at 8:48am
Thanks Jean !!! can't wait to test with ArduIMU too !! I hope I can get it working..

Developer
Comment by Jean-Louis Naudin on December 6, 2009 at 9:11am
Below the setup required for the FlightGear simulator v1.9.1
--aircraft=Rascal110-JSBSim
--native-fdm=socket,out,10,127.0.0.1,5500,udp
--native-ctrls=socket,in,10,127.0.0.1,5600,udp
--native-ctrls=socket,out,10,127.0.0.1,5700,udp

In the ARDUPILOT header file (ARascal110.h) for the Rascal 110 :
You need to select :

//1-7
#define GPS_PROTOCOL 4

------------------------
How to set the COM Port used by the FTDI cable :
All the setup parameters are placed in the file afgcinit.txt
If the FTDI cable use the COM 5 you need only to change the first line, see below :

COM 5
LOG 0
EFF 490 100 60
SET 0.008 0.01 0.001 0.30 0.002 0.06 -0.02

Some others parameters are :
LOG 0
0 if no datalog and 1 if datalog output in the stdout.txt file

Good UAV virtual flights,
Jean-Louis

Developer
Comment by Jean-Louis Naudin on December 6, 2009 at 9:34am

Here at : http://ardupilotdev.googlecode.com/files/Mission.zip
You will find the mission file to upload into the CPU board with the ArduConfigTool that I have used for testing the FlightGear with the ArduPilot.

Below the mission text file :
OPTIONS:164,False,False,Meters,14
HOME:37.619806,-122.372246,656
37.628508,-122.392845,656
37.618311,-122.396107,656
37.609472,-122.372417,656
37.614231,-122.359886,656

Enjoy,
Jean-Louis
Comment by Reto on December 6, 2009 at 9:53am
Thanks Jean-Louis. I'll have to give it a try. Winter and snow stepped in at my place!
Comment by Sean O'Connor on December 6, 2009 at 4:15pm
Looks very nice! I might be missing something here, but how did you successfully write: #define GPS_PROTOCOL 4 ? - I always seem to get a compile error.

Admin
Comment by Morli on December 6, 2009 at 5:36pm
Very Impressive Jean, Didn't expect so much progress in such a short time!! Good work & happy APing :)

Developer
Comment by Jean-Louis Naudin on December 6, 2009 at 11:04pm
Hello Sean,
You need to use the ArduPilot v2.4.7 that you will find here. This new version contains some additional (but required) codes for the datalink protocol (Uplink/Downlink telemetry) with the ArduFGControl gateway.
When you set GPS_PROTOCOL 4, this will activate this special feature.

Below some sample of the data exchange between the ArduPilot and the ArduFGControl gateway with FlightGear :

From ArduPilot to the Gateway :
!!!,WPN:2,DST:1195,BER:188,LAT:3762895,LON:-12239408,PHI:-17.52,THE:-5.19,SPD:29.00,MSL:287.00,RLL:-14,PCH:10,THR:79,GPS:0,***

From the Gateway to the ArduPilot :
&&&LAT:3762895,LON:-12239454,ALT:285,ASP:31,GSP:31,PHI:-16.511066,THE:-1.549248,GCS:263,MOD:2+++

Best Regards,
Jean-Louis
Comment by Rana on December 6, 2009 at 11:48pm
Excellent Jean Luis !!, keep it up.
Your work incredible, hatsoff to you !!!
Comment by DODY on December 7, 2009 at 3:54am
Bonjour jean louis, je viens de finir le montage ardupilote ,je suis sur l'installation du module dans l easystar , je vais essayer aussi ce simu.
merci super travail.
bonne semaine
dody.

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