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- Bugfixes
- Add magnetometer and rnagefinder - Add joystick interface - Configuator integration - Update docs
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Scavanger
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34 changed files with 706 additions and 256 deletions
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@ -2,10 +2,14 @@
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Supported are RealFlight 9.5S and RealFlight Evolution, NOT RealFlight-X.
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RealFlight is very well suited to simulate the model flight specific aspects. Autolaunch and the mixers can be set in INAV.
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RealFlight is very well suited to simulate the model flight specific aspects. Autolaunch and the mixers can be used.
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However, since the sceneries do not correspond to a real environment, the GPS data must be "faked". The position is always shown somewhere in southern Nevada ;).
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GPS data and flight modes work fine though, only for missions with waypoints it is of course not ideal.
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## Joystick
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In the settings, calibrate the joystick, set it up and assign the axes in the same order as in INAV.
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Channel 1 (Aileron) in RealFlight is Cannel 1 (Aileron in INAV) and so on.
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## General settings
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Under Settings / Physics / Quality Switch on "RealFlight Link enabled".
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As a command line option for SITL, the port does not need to be specified, the port is fixed.
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@ -17,4 +21,4 @@ In the model editor under "Electronis" all mixers should be deleted and the serv
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In the "Radio" tab also deactivate Expo and low rates: "Activadd when: Never".
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Configure the model in the same way as a real model would be set up in INAV including Mixer, Expo, etc. depending on the selected model in RealFlight.
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Then adjust the channelmap (see command line option) accordingly.
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Then adjust the channelmap im the Configurator or via command line accordingly.
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@ -3,7 +3,7 @@
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## ATTENTION!
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SITL is currently still under development, its use is still a bit cumbersome.
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SITL is currently still under development.
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SITL (Software in the loop) allows to run INAV completely in software on the PC without using a flight controller and simulate complete FPV flights.
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For this, INAV is compiled with a normal PC compiler.
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@ -13,46 +13,23 @@ Currently supported are
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- RealFlight https://www.realflight.com/
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- X-Plane https://www.x-plane.com/
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INAV SITL communicates for sensor data and control directly with the corresponding simulator, see the documentation of the individual simulators and the command line options.
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## Command line
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The following SITL specific command line options are available:
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If SITL is started without command line options, only the Configurator can be used.
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```--help``` Displays help for the command line options.
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```--sim=[sim]``` Select the simulator. xp = X-Plane, rf = RealFlight. Example: ```--sim=xp```
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```--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```
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```--simport=[port]``` Port number of the simulator, not necessary for all simulators. Example: ```--simport=4900```
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```--useimu``` Use IMU sensor data from the simulator instead of using attitude data directly from the simulator. Not recommended, use only for debugging.
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```--chanmap=[chanmap]``` The channelmap to map the motor and servo outputs from INAV to the virtual receiver channel or control surfaces around simulator.
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Syntax: (M(otor)|S(ervo)<INAV-OUT>-<RECEIVER_OUT>),..., all numbers must have two digits.
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Example:
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To assign motor1 to virtual receiver channel 1, servo 1 to channel 2, and servo2 to channel 3:
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```--chanmap:M01-01,S01-02,S02-03```
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Please also read the documentation of the individual simulators.
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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.
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## Sensors
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The following sensors are emulated:
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- IMU (Gyro, Accelerometer)
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- GPS
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- Pitot
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- barometer
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- Magnetometer (Compass)
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- Rangefinder
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- Barometer
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- Battery (current and voltage), depending on simulator
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Magnetometer (compass) is not yet supported, therefore no support for copters.
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Select "FAKE" as type for all mentioned, so that they receive the data from the simulator.
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## Serial ports
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## Serial ports+
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UARTs are replaced by TCP starting with port 5760 ascending. UART 1 port 5760, UART2 6761, ...
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By default, UART1 and UART2 are available as MSP connections.
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To connect the Configurator to SITL: Select TCP and connect to ```127.0.0.1:5760``` (if SITL is running on the same machine).
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@ -64,8 +41,17 @@ The assignment and status of user UART/TCP connections is displayed on the conso
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All other interfaces (I2C, SPI, etc.) are not emulated.
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## Remote control
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At the moment only direct input via UART/TCP is supported.
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Joystick (via simulator) or serial receiver via USB/Serial interface are supported.
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### Joystick interface
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Only 8 channels are supported.
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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.
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### Serial Receiver via USB
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Connect a serial receiver (e.g. SBUS) to the PC via a UART/USB adapter. Configure the receiver in the Configurator as usual.
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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:
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The connection can then be established with a programme that forwards the serial data unaltered to TCP, e.g. with the Python script tcp_serial_redirect.py (https://github.com/Scavanger/TCP-Serial-Redirect)
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If necessary, please download the required runtime environment from https://www.python.org/.
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Please use the linked version, which has a smaller buffer, otherwise the control response is relatively slow.
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@ -78,7 +64,7 @@ For this you need a FT232 module. With FT-Prog (https://ftdichip.com/utilities/)
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For SBUS, the command line arguments of the python script are:
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```python tcp_serial_redirect.py --parity E --stopbits 2 -c 127.0.0.1:[INAV-UART-PORT] COMXX 100000```
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Note: Telemetry via return channel through the receiver is not supported by SITL.
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Note: Telemetry via return channel through the receiver is not supported by SITL (yet).
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## OSD
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For the OSD the program INAV-Sim-OSD is available: https://github.com/Scavanger/INAV-SIM-OSD.
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@ -86,6 +72,33 @@ For this, activate MSP-Displayport on a UART/TCP port and connect to the corresp
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Note: INAV-Sim-OSD only works if the simulator is in window mode.
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## Command line
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The command line options are only necessary if the SITL executable is started by hand, e.g. when debugging.
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For normal use, please use the SITL tab in the configurator.
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The following SITL specific command line options are available:
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If SITL is started without command line options, only the Configurator can be used.
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```--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```
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```--sim=[sim]``` Select the simulator. xp = X-Plane, rf = RealFlight. Example: ```--sim=xp```
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```--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```
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```--simport=[port]``` Port number of the simulator, not necessary for all simulators. Example: ```--simport=4900```
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```--useimu``` Use IMU sensor data from the simulator instead of using attitude data directly from the simulator. Not recommended, use only for debugging.
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```--chanmap=[chanmap]``` The channelmap to map the motor and servo outputs from INAV to the virtual receiver channel or control surfaces around simulator.
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Syntax: (M(otor)|S(ervo)<INAV-OUT>-<RECEIVER_OUT>),..., all numbers must have two digits.
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Example:
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To assign motor1 to virtual receiver channel 1, servo 1 to channel 2, and servo2 to channel 3:
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```--chanmap:M01-01,S01-02,S02-03```
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Please also read the documentation of the individual simulators.
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```--help``` Displays help for the command line options.
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## Running SITL
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It is recommended to start the tools in the following order:
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1. Simulator, aircraft should be ready for take-off
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@ -94,7 +107,6 @@ It is recommended to start the tools in the following order:
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4. serial redirect for RC input
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## Compile
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GCC 10 is required, GCC 11 gives an error message (bug in GCC?!?).
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### Linux:
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Almost like normal, ruby, cmake and make are also required.
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@ -2,14 +2,32 @@
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Tested on X-Plane 11, 12 should(!) work but not tested.
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X-Plane is not a model flight simulator, but is based on real world data and is therefore suitable
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GPS missions with waypoints.
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X-Plane is not a model flight simulator, but is based on real world data and is therefore suitable for GPS missions with waypoints.
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## Aircraft
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It is recommended to use the "AR Wing" of the INAV HITL project: https://github.com/RomanLut/INAV-X-Plane-HITL
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## General settings
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In Settings / Network select "Accept incoming connections".
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The port can be found under "UDP PORTS", "Port we receive on". If no connection is established, the port can be changed.
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You may want to incease the "Flight model per frame" value under "General"
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## Joystick
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In the settings, calibrate the joystick, set it up and assign the axes as follows:
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| INAV | X-Plane |
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|------|---------|
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| Roll | Roll |
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| Pitch | Pitch |
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| Throttle | Throttle |
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| Yaw | Yaw |
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| Channel 5 | Prop |
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| Channel 6 | Mixture |
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| Channel 7 | Collective |
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| Channel 8 | Thrust vector |
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Reverse axis in X-Plane if necessary.
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## Channelmap:
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The assignment of the "virtual receiver" is fixed:
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1 - Throttle
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@ -17,6 +35,6 @@ The assignment of the "virtual receiver" is fixed:
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3 - Pitch
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4 - Yaw
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The internal mixer (e.g. for wings only) cannot be deactivated without further ado, therefore always select "Aircraft with tail" in INAV.
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The internal mixer (e.g. for flying wings) cannot be deactivated without further ado, therefore always select "Aircraft with tail" in INAV.
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For the standard Aircraft preset the channelmap is:
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```--chanmap=M01-01,S01-03,S03-02,S04-04```
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