Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-13 11:29:56 +03:00
Code Issues Wiki Activity

[SITL Doc] fix typo, clarifications (#8952)

Browse source 
* [SITL Doc] fix typo, clarifications

* [SITL Doc] Update serial example to current
This commit is contained in:
Jonathan Hudson 2023-04-05 16:16:42 +01:00 • committed by GitHub
parent e0e1357f17
commit 0c315c6475
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
1 changed files with 38 additions and 14 deletions
Download patch file Download diff file Expand all files Collapse all files

52
docs/SITL/SITL.md
View file

@ -12,6 +12,7 @@ The sensors are replaced by data provided by a simulator.
Currently supported are
- RealFlight https://www.realflight.com/
- X-Plane https://www.x-plane.com/
- fl2sim [replay Blackbox Log via SITL](https://github.com/stronnag/bbl2kml/wiki/fl2sitl), uses the X-Plane protocol.
INAV SITL communicates for sensor data and control directly with the corresponding simulator, see the documentation of the individual simulators and the Configurator or the command line options.
@ -30,25 +31,38 @@ The following sensors are emulated:
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.
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.
UARTs are replaced by TCP starting with port 5760 ascending. UART 1 port 5760, UART2 5761, ...
By default, UART1 and UART2 are available as MSP connections. Other UARTs will have TCP listeners if they have an INAV function assigned.
To connect the Configurator to SITL: Select TCP and connect to ```localhost:5760``` (or ```127.0.0.1:5760``` if your OS doesn't understand `localhost`) (if SITL is running on the same machine).
IPv4 and IPv6 are supported, either raw addresses or host-name lookup.
The assignment and status of user UART/TCP connections is displayed on the console.
![STL-Output](assets/SITL-UART-TCP-Connecion.png)
```
INAV 6.1.0 SITL
[SYSTEM] Init...
[SIM] No interface specified. Configurator only.
[EEPROM] Loaded 'eeprom.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP :: port 5760 to UART1
[SOCKET] Bind TCP :: port 5761 to UART2
[SOCKET] ::1 connected to UART1
```
All other interfaces (I2C, SPI, etc.) are not emulated.
## Remote control
Joystick (via simulator) or serial receiver via USB/Serial interface are supported.
MSP_RX (TCP/IP) or joystick (via simulator) or serial receiver via USB/Serial interface are supported.
### MSP_RX
MSP_RX is the default, 18 channels are supported over TCP/IP serial emulation.
### 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.
### 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.
The Configurator offers a built-in option for forwarding the serial data to the SITL TCP port, if SITL is started manually the following option can be used:
@ -65,7 +79,11 @@ 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```
Note: Telemetry via return channel through the receiver is not supported by SITL (yet).
### Telemtry
LTM and MAVLink telemetry are supported, either as a discrete function or shared with MSP.
RX Telemetry via a return channel through the receiver is not yet supported by SITL.
## OSD
For the OSD the program INAV-Sim-OSD is available: https://github.com/Scavanger/INAV-SIM-OSD.
@ -74,20 +92,22 @@ For this, activate MSP-Displayport on a UART/TCP port and connect to the corresp
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.
The command line options are only necessary if the SITL executable is started by hand.
There is also a SITL tab in the INAV Configurator (6.1.0 and later).
The following SITL specific command line options are available:
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```
```--path``` 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```, ```/home/user/sitl-eeproms/test-eeprom.bin```.
```--sim=[sim]``` Select the simulator. xp = X-Plane, rf = RealFlight. Example: ```--sim=xp```
```--simip=[ip]``` IP address of the simulator, if you specify a simulator with "--sim" and omit this option localhost (127.0.0.1) will be used. Example: ```--simip=172.65.21.15```
```--simip=[ip]``` Hostname or IP address of the simulator, if you specify a simulator with "--sim" and omit this option IPv4 localhost (`127.0.0.1`) will be used. Example: ```--simip=172.65.21.15```, ```--simip acme-sims.org```, ```--sim ::1```.
```--simport=[port]``` Port number of the simulator, not necessary for all simulators. Example: ```--simport=4900```
```--simport=[port]``` Port number of the simulator, not necessary for all simulators. Example: ```--simport=4900```. For the X-Plane protocol, the default port is `49000`.
```--useimu``` Use IMU sensor data from the simulator instead of using attitude data directly from the simulator. Not recommended, use only for debugging.
@ -100,6 +120,8 @@ Please also read the documentation of the individual simulators.
```--help``` Displays help for the command line options.
For options that take an argument, either form `--flag=value` or `--flag value` may be used.
## Running SITL
It is recommended to start the tools in the following order:
1. Simulator, aircraft should be ready for take-off
@ -124,6 +146,8 @@ make
Compile under cygwin, then as in Linux.
Copy cygwin1.dll into the directory, or include cygwin's /bin/ directory in the environment variable PATH.
If the build fails (segfault, possibly out of memory), adding `-DCMAKE_BUILD_TYPE=MinRelSize` to the `cmake` command may help.
#### Build manager
`ninja` may also be used (parallel builds without `-j $(nproc)`):
@ -135,12 +159,12 @@ ninja
### Compiler requirements
* Modern GCC. Must be a *real* GCC, macOS faking it with clang will not work.
* Modern GCC. Must be a *real* GCC, macOS faking it with clang will not work. GCC 10 to GCC 13 are known to 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)
* Linux on x86_64, ia-32, Aarch64 (e.g. Rpi4), RISCV64 (e.g. VisionFive2)
* Windows on x86_64
* FreeBSD (x86_64 at least).