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195 lines
8.8 KiB
Markdown
195 lines
8.8 KiB
Markdown
# Hardware in the Loop Simulation (HITL)
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:::warning
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HITL is [community supported and maintained](../simulation/community_supported_simulators.md).
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It may or may not work with current versions of PX4.
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See [Toolchain Installation](../dev_setup/dev_env.md) for information about the environments and tools supported by the core development team.
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:::
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HITL(Hardware-in-the-Loop)은 일반 PX4 펌웨어가 실제 비행 콘트롤러 하드웨어에서 실행되는 시뮬레이션 모드입니다.
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이 접근 방식은 실제 하드웨어에서 대부분의 실제 비행 코드를 테스트할 수 있습니다.
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PX4 supports HITL for multicopters (using [jMAVSim](../sim_jmavsim/index.md) or [Gazebo Classic](../sim_gazebo_classic/index.md)) and VTOL (using Gazebo Classic).
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For a comparison of HITL and SIH on hardware, see [Hardware Simulation](../simulation/hardware.md).
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## HITL-Compatible Airframes {#compatible_airframe}
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The set of compatible airframes vs simulators is:
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| 기체 | `SYS_AUTOSTART` | Gazebo Classic | jMAVSim |
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| ---------------------------------------------------------------------------------------------------------------- | --------------- | -------------- | ------- |
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| [HIL Quadcopter X](../airframes/airframe_reference.md#copter_simulation_hil_quadcopter_x) | 1001 | Y | Y |
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| [HIL Standard VTOL QuadPlane](../airframes/airframe_reference.md#vtol_standard_vtol_hil_standard_vtol_quadplane) | 1002 | Y | |
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## HITL Simulation Environment {#simulation_environment}
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HITL(Hardware-in-the-Loop) 시뮬레이션을 사용하여, 일반 PX4 펌웨어가 실제 하드웨어에서 실행됩니다.
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JMAVSim or Gazebo Classic (running on a development computer) are connected to the flight controller hardware via USB/UART.
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The simulator acts as gateway to share MAVLink data between PX4 and _QGroundControl_.
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:::info
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The simulator can also be connected via UDP if the flight controller has networking support and uses a stable, low-latency connection (e.g. a wired Ethernet connection - WiFi is usually not sufficiently reliable).
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For example, this configuration has been tested with PX4 running on a Raspberry Pi connected via Ethernet to the computer (a startup configuration that includes the command for running jMAVSim can be found in [px4_hil.config](https://github.com/PX4/PX4-Autopilot/blob/main/posix-configs/rpi/px4_hil.config)).
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:::
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아래 다이어그램은 시뮬레이션 환경을 나타냅니다.
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- A HITL configuration is selected (via _QGroundControl_) that doesn't start any real sensors.
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- _jMAVSim_ or _Gazebo Classic_ are connected to the flight controller via USB.
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- The simulator is connected to _QGroundControl_ via UDP and bridges its MAVLink messages to PX4.
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- _Gazebo Classic_ and _jMAVSim_ can also connect to an offboard API and bridge MAVLink messages to PX4.
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- (Optional) A serial connection can be used to connect Joystick/Gamepad hardware via _QGroundControl_.
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## HITL 대 SITL
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SITL은 시뮬레이션 환경의 컴퓨터에서 실행되며, 해당 환경에서 제작된 펌웨어를 사용합니다.
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시뮬레이터에서 가공의 환경 데이터를 제공하는 시뮬레이션 드라이버 이외의 시스템은 정상적으로 작동합니다.
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이와 대조적으로, HITL은 일반 하드웨어의 "HITL 모드"에서 일반 PX4 펌웨어를 실행합니다.
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시뮬레이션 데이터는 SITL과 다른 지점에서 시스템에 입력됩니다.
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커맨더 및 센서와 같은 핵심 모듈에는 시작 시 정상적인 기능 중 일부를 우회하는 HITL 모드가 있습니다.
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요약하면, HITL은 표준 펌웨어를 사용하여 실제 하드웨어에서 PX4를 실행하고, SITL은 실제로 더 많은 표준 시스템 코드를 실행합니다.
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## HITL 설정
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## Check if HITL is in Firmware
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The module required for HITL ([`pwm_out_sim`](../modules/modules_driver.md#pwm-out-sim)) is not built into all PX4 firmware by default.
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To check if the module is present on your Flight Controller:
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1. Open QGroundControl
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2. Open **Analyze Tools > Mavlink Console**.
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3. Type the following command in the console:
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```sh
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pwm_out_sim status
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```
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4. If the returned value is `nsh: pwm_out_sim: command not found`, then you don't have the module installed.
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If `pwm_out_sim` is not present you will need to add it to the firmware in order to use HITL simulation.
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### Adding HITL modules to the Firmware
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Add the following key to the configuration file for your flight controller to include the required module (for an example see [boards/px4/fmu-v6x/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6x/default.px4board)).
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Then re-build the firmware and flash it to the board.
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```text
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CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
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```
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You can alternatively use the following command to launch a GUI configuration tool, and interactively enable them at the path: **modules > Simulation > pwm_out_sim**.
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For example, to update fmu-v6x you would use:
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```sh
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make px4_fmu-v6x boardconfig
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```
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### PX4 설정
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1. Connect the autopilot directly to _QGroundControl_ via USB.
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2. 기체를 선택합니다.
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1. Open **Setup > Airframes**
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2. Select a [compatible airframe](#compatible_airframe) you want to test.
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Then click **Apply and Restart** on top-right of the _Airframe Setup_ page.
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3. Calibrate your [Manual Controller](../config/manual_control.md) (RC or Joystick), if needed.
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4. UDP를 설정합니다.
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1. Under the _General_ tab of the settings menu, uncheck all _AutoConnect_ boxes except for **UDP**.
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5. (Optional) Configure your manual controller priority and failsafe:
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- [Enable a mode in `COM_RC_IN_MODE` that enables and prioritises the controllers you want to use](../config/manual_control.md#px4-configuration).
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The default `RC or MAVLink keep first` should work if you plan to only have a Joystick (no RC).
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- You can set [NAV_RCL_ACT](../advanced_config/parameter_reference.md#NAV_RCL_ACT) to disable manual control loss failsafe while flying in a simulation.
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:::tip
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The _QGroundControl User Guide_ also has instructions on [Joystick](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/setup_view/joystick.html) and [Virtual Joystick](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/settings_view/virtual_joystick.html) setup.
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:::
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Once configuration is complete, **close** _QGroundControl_ and disconnect the flight controller hardware from the computer.
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### 시뮬레이터별 설정
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다음 섹션을 참고하여 특정 시뮬레이터에 대하여 설정하십시오.
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#### Gazebo Classic
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:::info
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Make sure _QGroundControl_ is not running!
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:::
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1. Build PX4 with [Gazebo Classic](../sim_gazebo_classic/index.md) (in order to build the Gazebo Classic plugins).
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```sh
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cd <PX4-Autopilot clone>
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DONT_RUN=1 make px4_sitl_default gazebo-classic
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```
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2. Open the vehicle model's sdf file (e.g. **Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris_hitl/iris_hitl.sdf**).
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3. Replace the `serialDevice` parameter (`/dev/ttyACM0`) if necessary.
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::: info
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The serial device depends on what port is used to connect the vehicle to the computer (this is usually `/dev/ttyACM0`).
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An easy way to check on Ubuntu is to plug in the autopilot, open up a terminal, and type `dmesg | grep "tty"`.
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올바른 장치가 마지막에 표시됩니다.
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:::
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4. 환경 변수를 설정합니다.
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```sh
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source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default
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```
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and run Gazebo Classic in HITL mode:
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```sh
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gazebo Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/hitl_iris.world
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```
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5. Start _QGroundControl_.
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It should autoconnect to PX4 and Gazebo Classic.
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#### jMAVSim(쿼드콥터 전용)
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:::info
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Make sure _QGroundControl_ is not running!
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1. 비행 콘트롤러를 컴퓨터에 연결하고, 부팅시까지 기다립니다.
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2. jMAVSim를 HITL 모드에서 실행:
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```sh
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./Tools/simulation/jmavsim/jmavsim_run.sh -q -s -d /dev/ttyACM0 -b 921600 -r 250
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```
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::: info
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Replace the serial port name `/dev/ttyACM0` as appropriate.
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On macOS this port would be `/dev/tty.usbmodem1`.
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Windows(Cygwin 포함)에서는 COM1 또는 다른 포트입니다. Windows 장치 관리자에서 확인하십시오.
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:::
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3. Start _QGroundControl_.
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PX4와 jMAVSim에 자동으로 연결되어야 합니다.
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## HITL에서 자율 임무 비행
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You should be able to use _QGroundControl_ to [run missions](https://docs.qgroundcontrol.com/master/en/qgc-user-guide/fly_view/fly_view.html#missions) and otherwise control the vehicle.
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