mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00

Move PX4 Guide source into /docs (#24490 )

* Add vitepress tree

* Update existing workflows so they dont trigger on changes in the docs path

* Add nojekyll, package.json, LICENCE etc

* Add crowdin docs upload/download scripts

* Add docs flaw checker workflows

* Used docs prefix for docs workflows

* Crowdin obvious fixes

* ci: docs move to self hosted runner

runs on a beefy server for faster builds

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* ci: don't run build action for docs or ci changes

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* ci: update runners

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* Add docs/en

* Add docs assets and scripts

* Fix up editlinks to point to PX4 sources

* Download just the translations that are supported

* Add translation sources for zh, uk, ko

* Update latest tranlsation and uorb graphs

* update vitepress to latest

---------

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>

2025-03-13 16:08:27 +11:00

8.0 KiB

Raw Blame History

Hardware in the Loop Simulation (HITL)

:::warning HITL is community supported and maintained. It may or may not work with current versions of PX4.

See Toolchain Installation for information about the environments and tools supported by the core development team. :::

HITL(Hardware-in-the-Loop)은 일반 PX4 펌웨어가 실제 비행 콘트롤러 하드웨어에서 실행되는 시뮬레이션 모드입니다. 이 접근 방식은 실제 하드웨어에서 대부분의 실제 비행 코드를 테스트할 수 있습니다.

PX4 supports HITL for multicopters (using jMAVSim or Gazebo Classic) and VTOL (using Gazebo Classic).

HITL 호환 기체

The set of compatible airframes vs simulators is:

기체	`SYS_AUTOSTART`	Gazebo Classic	jMAVSim
HIL Quadcopter X	1001	Y	Y
HIL Standard VTOL QuadPlane	1002	Y
Generic Quadrotor x copter	4001	Y	Y

HITL 시뮬레이션 환경

HITL(Hardware-in-the-Loop) 시뮬레이션을 사용하여, 일반 PX4 펌웨어가 실제 하드웨어에서 실행됩니다. JMAVSim or Gazebo Classic (running on a development computer) are connected to the flight controller hardware via USB/UART. The simulator acts as gateway to share MAVLink data between PX4 and QGroundControl.

:::info 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). 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 here). :::

아래 다이어그램은 시뮬레이션 환경을 나타냅니다.

A HITL configuration is selected (via QGroundControl) that doesn't start any real sensors.
jMAVSim or Gazebo Classic are connected to the flight controller via USB.
The simulator is connected to QGroundControl via UDP and bridges its MAVLink messages to PX4.
Gazebo Classic and jMAVSim can also connect to an offboard API and bridge MAVLink messages to PX4.
(Optional) A serial connection can be used to connect Joystick/Gamepad hardware via QGroundControl.

HITL 대 SITL

SITL은 시뮬레이션 환경의 컴퓨터에서 실행되며, 해당 환경에서 제작된 펌웨어를 사용합니다. 시뮬레이터에서 가공의 환경 데이터를 제공하는 시뮬레이션 드라이버 이외의 시스템은 정상적으로 작동합니다.

이와 대조적으로, HITL은 일반 하드웨어의 "HITL 모드"에서 일반 PX4 펌웨어를 실행합니다. 시뮬레이션 데이터는 SITL과 다른 지점에서 시스템에 입력됩니다. 커맨더 및 센서와 같은 핵심 모듈에는 시작 시 정상적인 기능 중 일부를 우회하는 HITL 모드가 있습니다.

요약하면, HITL은 표준 펌웨어를 사용하여 실제 하드웨어에서 PX4를 실행하고, SITL은 실제로 더 많은 표준 시스템 코드를 실행합니다.

HITL 설정

PX4 설정

Connect the autopilot directly to QGroundControl via USB.
HITL 모드를 활성화합니다.
1. Open Setup > Safety section.
2. Enable HITL mode by selecting Enabled from the HITL Enabled list:
기체를 선택합니다.
1. Open Setup > Airframes
2. Select a compatible airframe you want to test. Then click Apply and Restart on top-right of the Airframe Setup page.
필요한 경우 RC 또는 조이스틱을 보정합니다.
UDP를 설정합니다.
1. Under the General tab of the settings menu, uncheck all AutoConnect boxes except for UDP.
(선택 사항) 조이스틱과 안정장치를 설정합니다. Set the following parameters in order to use a joystick instead of an RC remote control transmitter:
- COM_RC_IN_MODE to "Joystick/No RC Checks". 이것은 조이스틱 입력을 허용하고, RC 입력을 비활성화합니다.
- NAV_RCL_ACT to "Disabled". 무선 제어로 HITL을 실행하지 않으면, RC 안전장치가 간섭하지 않습니다.
:::tip The QGroundControl User Guide also has instructions on Joystick and Virtual Joystick setup.

:::

Once configuration is complete, close QGroundControl and disconnect the flight controller hardware from the computer.

시뮬레이터별 설정

다음 섹션을 참고하여 특정 시뮬레이터에 대하여 설정하십시오.

Gazebo Classic

:::info Make sure QGroundControl is not running! :::

Build PX4 with Gazebo Classic (in order to build the Gazebo Classic plugins).
```
cd <Firmware_clone>
DONT_RUN=1 make px4_sitl_default gazebo-classic
```
Open the vehicle model's sdf file (e.g. Tools/simulation/gazebo-classic/sitl_gazebo-classic/models/iris_hitl/iris_hitl.sdf).
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). An easy way to check on Ubuntu is to plug in the autopilot, open up a terminal, and type dmesg | grep "tty". 올바른 장치가 마지막에 표시됩니다.

:::

환경 변수를 설정합니다.

source Tools/simulation/gazebo-classic/setup_gazebo.bash $(pwd) $(pwd)/build/px4_sitl_default

and run Gazebo Classic in HITL mode:

gazebo Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds/hitl_iris.world

Start QGroundControl. It should autoconnect to PX4 and Gazebo Classic.

jMAVSim(쿼드콥터 전용)