mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-24 16:55:29 +03:00
6.1.0 sitl interop (#8913)
* fix getopts 'has_arg' usage (iaw getopt_long(3)) * Rexec the SITL on reboot * Allow hostnames, facilitate compilation on non-GNU OS (e.g. *BSD), add IPV6 [xplane.c] * add required interop header files [simple_soap_client.c] * add required interop header files [simple_soap_client.h] * update serial_tcp (headers, IPv6, lookup etc) * conditional for pthread_attr_getschedpolicy availability * fix error in xplane socket familiy * remove unnecessary added headers [xplane.c] * fix gcc 12 warning is osd.c * update docs * fix for older gcc without closefrom(3) * add AI_V4MAPPED|AI_ADDRCONFIG to ai_flags (to support V4 only hosts)
This commit is contained in:
Jonathan Hudson
GitHub
parent
4fa7e508ed
commit
064a809ad2
9 changed files with 343 additions and 133 deletions
|
|
@ -27,12 +27,13 @@ The following sensors are emulated:
|
|||
|
||||
|
||||
|
||||
Select "FAKE" as type for all mentioned, so that they receive the data from the simulator.
|
||||
Select "FAKE" as type for all mentioned, so that they receive the data from the simulator.
|
||||
|
||||
## Serial ports+
|
||||
UARTs are replaced by TCP starting with port 5760 ascending. UART 1 port 5760, UART2 6761, ...
|
||||
By default, UART1 and UART2 are available as MSP connections.
|
||||
By default, UART1 and UART2 are available as MSP connections.
|
||||
To connect the Configurator to SITL: Select TCP and connect to ```127.0.0.1:5760``` (if SITL is running on the same machine).
|
||||
IPv4 and IPv6 are supported, either raw addresses of hostname lookup.
|
||||
|
||||
The assignment and status of user UART/TCP connections is displayed on the console.
|
||||
|
||||
|
|
@ -41,11 +42,11 @@ The assignment and status of user UART/TCP connections is displayed on the conso
|
|||
All other interfaces (I2C, SPI, etc.) are not emulated.
|
||||
|
||||
## Remote control
|
||||
Joystick (via simulator) or serial receiver via USB/Serial interface are supported.
|
||||
Joystick (via simulator) or serial receiver via USB/Serial interface are supported.
|
||||
|
||||
### Joystick interface
|
||||
Only 8 channels are supported.
|
||||
Select "SIM (SITL)" as the receiver and set up a joystick in the simulator, details of which can be found in the documentation for the individual simulators.
|
||||
Only 8 channels are supported.
|
||||
Select "SIM (SITL)" as the receiver and set up a joystick in the simulator, details of which can be found in the documentation for the individual simulators.
|
||||
|
||||
### Serial Receiver via USB
|
||||
Connect a serial receiver (e.g. SBUS) to the PC via a UART/USB adapter. Configure the receiver in the Configurator as usual.
|
||||
|
|
@ -61,8 +62,8 @@ For this you need a FT232 module. With FT-Prog (https://ftdichip.com/utilities/)
|
|||
|
||||
|
||||
|
||||
For SBUS, the command line arguments of the python script are:
|
||||
```python tcp_serial_redirect.py --parity E --stopbits 2 -c 127.0.0.1:[INAV-UART-PORT] COMXX 100000```
|
||||
For SBUS, the command line arguments of the python script are:
|
||||
```python tcp_serial_redirect.py --parity E --stopbits 2 -c 127.0.0.1:[INAV-UART-PORT] COMXX 100000```
|
||||
|
||||
Note: Telemetry via return channel through the receiver is not supported by SITL (yet).
|
||||
|
||||
|
|
@ -70,15 +71,15 @@ Note: Telemetry via return channel through the receiver is not supported by SITL
|
|||
For the OSD the program INAV-Sim-OSD is available: https://github.com/Scavanger/INAV-SIM-OSD.
|
||||
For this, activate MSP-Displayport on a UART/TCP port and connect to the corresponding port.
|
||||
|
||||
Note: INAV-Sim-OSD only works if the simulator is in window mode.
|
||||
Note: INAV-Sim-OSD only works if the simulator is in window mode.
|
||||
|
||||
## Command line
|
||||
The command line options are only necessary if the SITL executable is started by hand, e.g. when debugging.
|
||||
For normal use, please use the SITL tab in the configurator.
|
||||
For normal use, please use the SITL tab in the configurator.
|
||||
|
||||
The following SITL specific command line options are available:
|
||||
|
||||
If SITL is started without command line options, only the Configurator can be used.
|
||||
If SITL is started without command line options, only a serial MSP / CLI connection can be used (e.g. Configurator or other application) can be used.
|
||||
|
||||
```--path``` Full path and file name to config file, if not present, eeprom.bin in the current directory is used. Example: ```C:\INAV_SITL\flying-wing.bin```
|
||||
|
||||
|
|
@ -108,9 +109,9 @@ It is recommended to start the tools in the following order:
|
|||
|
||||
## Compile
|
||||
|
||||
### Linux:
|
||||
### Linux and FreeBSD:
|
||||
Almost like normal, ruby, cmake and make are also required.
|
||||
With cmake, the option "-DSITL=ON" must be specified.
|
||||
With cmake, the option "-DSITL=ON" must be specified.
|
||||
|
||||
```
|
||||
mkdir build_SITL
|
||||
|
|
@ -120,5 +121,26 @@ make
|
|||
```
|
||||
|
||||
### Windows:
|
||||
Compile under cygwin, then as in Linux.
|
||||
Compile under cygwin, then as in Linux.
|
||||
Copy cygwin1.dll into the directory, or include cygwin's /bin/ directory in the environment variable PATH.
|
||||
|
||||
#### Build manager
|
||||
|
||||
`ninja` may also be used (parallel builds without `-j $(nproc)`):
|
||||
|
||||
```
|
||||
cmake -GNinja -DSITL=ON ..
|
||||
ninja
|
||||
```
|
||||
|
||||
### Compiler requirements
|
||||
|
||||
* Modern GCC. Must be a *real* GCC, macOS faking it with clang will not work.
|
||||
* Unix sockets networking. Cygwin is required on Windows (vice `winsock`).
|
||||
* Pthreads
|
||||
|
||||
## Supported environments
|
||||
|
||||
* Linux on x86_64, Aarch64 (e.g. Rpi4), RISC-V (e.g. VisionFive2)
|
||||
* Windows on x86_64
|
||||
* FreeBSD (x86_64 at least).
|
||||
|
|
|
|||
|
|
@ -1,4 +1,4 @@
|
|||
# X-Plane
|
||||
# X-Plane
|
||||
|
||||
Tested on X-Plane 11, 12 should(!) work but not tested.
|
||||
|
||||
|
|
@ -20,21 +20,25 @@ In the settings, calibrate the joystick, set it up and assign the axes as follow
|
|||
| Roll | Roll |
|
||||
| Pitch | Pitch |
|
||||
| Throttle | Cowl Flap 1 |
|
||||
| Yaw | Yaw |
|
||||
| Channel 5 | Cowl Flap 2 |
|
||||
| Channel 6 | Cowl Flap 3 |
|
||||
| Channel 7 | Cowl Flap 4 |
|
||||
| Channel 8 | Cowl Flap 5 |
|
||||
| Yaw | Yaw |
|
||||
| Channel 5 | Cowl Flap 2 |
|
||||
| Channel 6 | Cowl Flap 3 |
|
||||
| Channel 7 | Cowl Flap 4 |
|
||||
| Channel 8 | Cowl Flap 5 |
|
||||
|
||||
Reverse axis in X-Plane if necessary.
|
||||
|
||||
## Channelmap:
|
||||
The assignment of the "virtual receiver" is fixed:
|
||||
The assignment of the "virtual receiver" is fixed:
|
||||
1 - Throttle
|
||||
2 - Roll
|
||||
3 - Pitch
|
||||
4 - Yaw
|
||||
|
||||
The internal mixer (e.g. for flying wings) cannot be deactivated without further ado, therefore always select "Aircraft with tail" in INAV.
|
||||
The internal mixer (e.g. for flying wings) cannot be deactivated without further ado, therefore always select "Aircraft with tail" in INAV.
|
||||
For the standard Aircraft preset the channelmap is:
|
||||
```--chanmap=M01-01,S01-03,S03-02,S04-04```
|
||||
|
||||
## Other applications
|
||||
|
||||
[fl2sitl](https://github.com/stronnag/bbl2kml/wiki/fl2sitl) is an open source application to replay an INAV Blackbox log through the INAV SITL via `blackbox_decode`. The output may be visualised in any MSP capable application, such as the INAV Configurator or [mwp](https://github.com/stronnag/mwptools). fl2sitl uses the X-plane protocol.
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue