SIMULATION.md

Simulation

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Hardware in the Loop (HitL)

Hardware in the Loop simulation provides methods to use the real hardware with simulation interfaces to test and verify the controller and other methods as if the flight controller on a real platform.

It should be noted that IMU functions are disabled when HitL mode is turned on, meaning that caution should be taken if using your flight controller for both HitL and real-world testing.

Device Setup

To enable Hardware in the Loop, it the primary parameter that needs to be changed is CBRK_HIL, however it is recommended to set the following additional variables as well:

Parameter	Value	Reason
CBRK_HIL	1	Enables HitL funcitons
CBRK_SAFETY	0	Disable the safety button check to allow easier arming
SYS_AUTOSTART	4001	Set the mixer to Quad X4, as this is the default simulated UAV
BAUD_RATE_0	921600	Allows for high data rate transfer of required for HitL
STRM0_SRV_OUT	100	Sets a high data rate for PWM feedback to simulator

Simulator Setup

Currently, the simulation interface is provided by the ROS package robin_gazebo. To download, compile, and run the simulator, please refer to the official documentaiton.

Running the Simulation

To actually run the simulation, the following steps must be taken:

1. Set the parameters as previously discussed on the flight controller, then reboot it.
2. Configure and run mavros such that it connects to the flight controller correctly.
3. Follow the instructions on running the Robin Gazebo simulator.