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docs(sim): restructure hardware sim pages and add SIH docs

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Co-authored-by: Hamish Willee <hamishwillee@gmail.com>

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
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Ramon Roche
2026-03-31 17:01:10 -06:00
co-authored by Hamish Willee
parent 01dd41b7e8
commit 1d80fc317e
11 changed files with 596 additions and 339 deletions
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docs/en/simulation/hitl.md
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@@ -12,20 +12,18 @@ This approach has the benefit of testing most of the actual flight code on the r
PX4 supports HITL for multicopters (using [jMAVSim](../sim_jmavsim/index.md) or [Gazebo Classic](../sim_gazebo_classic/index.md)) and VTOL (using Gazebo Classic).
<a id="compatible_airframe"></a>
For a comparison of HITL and SIH on hardware, see [Hardware Simulation](../simulation/hardware.md).
## HITL-Compatible Airframes
## HITL-Compatible Airframes {#compatible_airframe}
The set of compatible airframes vs simulators is:
| Airframe | `SYS_AUTOSTART` | Gazebo Classic | jMAVSim |
| ---------------------------------------------------------------------------------------------------------------- | --------------- | -------------- | ------- |
| [HIL Quadcopter X](../airframes/airframe_reference.md#copter_simulation_hil_quadcopter_x) | 1001 | Y | Y |
| [HIL Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_standard_vtol_hil_standard_vtol_quadplane) | 1002 | Y |
| [HIL Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_standard_vtol_hil_standard_vtol_quadplane) | 1002 | Y | |
<a id="simulation_environment"></a>
## HITL Simulation Environment
## HITL Simulation Environment {#simulation_environment}
With Hardware-in-the-Loop (HITL) simulation the normal PX4 firmware is run on real hardware.
JMAVSim or Gazebo Classic (running on a development computer) are connected to the flight controller hardware via USB/UART.
@@ -135,8 +133,8 @@ Make sure _QGroundControl_ is not running!
DONT_RUN=1 make px4_sitl_default gazebo-classic
```
1. Open the vehicle model's sdf file (e.g. **Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris_hitl/iris_hitl.sdf**).
1. Replace the `serialDevice` parameter (`/dev/ttyACM0`) if necessary.
2. Open the vehicle model's sdf file (e.g. **Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris_hitl/iris_hitl.sdf**).
3. Replace the `serialDevice` parameter (`/dev/ttyACM0`) if necessary.
::: info
The serial device depends on what port is used to connect the vehicle to the computer (this is usually `/dev/ttyACM0`).
@@ -144,7 +142,7 @@ Make sure _QGroundControl_ is not running!
The correct device will be the last one shown.
:::
1. Set up the environment variables:
4. Set up the environment variables:
```sh
source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
@@ -156,7 +154,7 @@ Make sure _QGroundControl_ is not running!
gazebo Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/hitl_iris.world
```
1. Start _QGroundControl_.
5. Start _QGroundControl_.
It should autoconnect to PX4 and Gazebo Classic.
#### jMAVSim (Quadrotor only)
@@ -166,7 +164,7 @@ Make sure _QGroundControl_ is not running!
:::
1. Connect the flight controller to the computer and wait for it to boot.
1. Run jMAVSim in HITL mode:
2. Run jMAVSim in HITL mode:
```sh
./Tools/simulation/jmavsim/jmavsim_run.sh -q -s -d /dev/ttyACM0 -b 921600 -r 250
@@ -178,7 +176,7 @@ Make sure _QGroundControl_ is not running!
On Windows (including Cygwin) it would be the COM1 or another port - check the connection in the Windows Device Manager.
:::
1. Start _QGroundControl_.
3. Start _QGroundControl_.
It should autoconnect to PX4 and jMAVSim.
## Fly an Autonomous Mission in HITL