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hitl: added standard vtol airframe to hitl airframe references #519

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Jul 2, 2018
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hitl: added standard vtol airframe to hitl airframe references #519

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hitl: added standard vtol airframe to hitl airframe references
RomanBapst Apr 30, 2018
d877a5a
Tidy some layout
hamishwillee May 1, 2018
9142d1b
Update link/text for airframe HIL Standard VTOL QuadPlane
hamishwillee Jul 2, 2018
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21 changes: 11 additions & 10 deletions en/simulation/hitl.md
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Expand Up @@ -7,12 +7,13 @@ PX4 supports HITL for multicopters (using jMAVSim or Gazebo) and fixed wing (usi

## HITL-Compatible Airframes {#compatible_airframe}

The current list of compatible airframes vs Simulators is:
The current set of compatible airframes vs Simulators is:

Airframe | `SYS_AUTOSTART` | X-Plane | Gazebo | jMAVSim
---|---|---
--- | --- | --- | --- | ---
<a href="../airframes/airframe_reference.md#plane_simulation_(plane)_hilstar_(xplane)">HILStar (X-Plane)</a> | 1000 | Y | |
<a href="../airframes/airframe_reference.md#copter_simulation_(copter)_hil_quadcopter_x">HIL Quadcopter X</a> | 1001 | | Y | Y
<a href="../airframes/airframe_reference.md#vtol_standard_vtol_hil_standard_vtol_quadplane">HIL Standard VTOL QuadPlane</a> | 1002 | | Y |
[Standard planes](../airframes/airframe_reference.md#plane_standard_plane_standard_plane) | 2100 | Y | |
[Generic Quadrotor x](../airframes/airframe_reference.md#copter_quadrotor_x_generic_quadrotor_x) copter | 4001 | | Y | Y
[DJI Flame Wheel f450](../airframes/airframe_reference.md#copter_quadrotor_x_dji_flame_wheel_f450) | 4011 | | Y | Y
Expand Down Expand Up @@ -119,16 +120,16 @@ Follow the appropriate setup steps for your simulator in the following sections.
1. Open the vehicle model's sdf file (e.g. **Tools/sitl_gazebo/models/iris/iris.sdf**).
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Might be worth also listing the standard VTOL sdf file here?

1. Under the `mavlink_interface plugin` section, change the `serialEnabled` and `hil_mode` parameters to `true`.

![HIL Parameters](../../assets/simulation/gazebo_sdf_model_hil_params.png)
![HIL Parameters](../../assets/simulation/gazebo_sdf_model_hil_params.png)
1. Replace the `serialDevice` parameter (`/dev/ttyACM0`) if necessary.

> **Note** The serial device depends on what port is used to connect the vehicle to the computer (this is usually `/dev/ttyACM0`). An easy way to check on Ubuntu is to plug in the autopilot, open up a terminal, and type `dmesg | grep "tty"`. The correct device will be the last one shown.

1. Close Gazebo, connect the flight controller to the computer and wait for it to boot.
1. Run Gazebo in HITL mode
```sh
gazebo Tools/sitl_gazebo/worlds/iris.world
```
```sh
gazebo Tools/sitl_gazebo/worlds/iris.world
```
1. Start *QGroundControl*. It should autoconnect to PX4 and Gazebo.

#### jMAVSim (Quadrotor only)
Expand All @@ -137,9 +138,9 @@ Follow the appropriate setup steps for your simulator in the following sections.

1. Connect the flight controller to the computer and wait for it to boot.
1. Run jMAVSim in HITL mode (replace the serial port name `/dev/ttyACM0` if necessary - e.g. on Mac OS this would be `/dev/tty.usbmodem1`):
```sh
./Tools/jmavsim_run.sh -q -d /dev/ttyACM0 -b 921600 -r 250
```
```sh
./Tools/jmavsim_run.sh -q -d /dev/ttyACM0 -b 921600 -r 250
```
1. Start *QGroundControl*. It should autoconnect to PX4 and jMAVSim.

#### Using X-Plane (Fixed Wing only)
Expand All @@ -166,4 +167,4 @@ To set up X-Plane:

## Fly an Autonomous Mission in HITL

You should not be able to use *QGroundControl* to [run missions](../qgc/README.md#planning-missions) and otherwise control the vehicle.
You should be able to use *QGroundControl* to [run missions](../qgc/README.md#planning-missions) and otherwise control the vehicle.