Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2025-12-16 04:45:24 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

docs(hitl): Update instructions for hitl simulations

Browse Source 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
This commit is contained in:
Beniamino Pozzan
2025-06-22 17:07:57 +01:00
committed by Hamish Willee
parent 0f57d634f4
commit af5f2f8b74
1 changed files with 6 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

14
docs/en/simulation/hitl.md
View File

@@ -22,7 +22,6 @@ The set of compatible airframes vs simulators is:
| ---------------------------------------------------------------------------------------------------------------- | --------------- | -------------- | ------- |
| [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 |
| [Generic Quadrotor x](../airframes/airframe_reference.md#copter_quadrotor_x_generic_quadcopter) copter | 4001 | Y | Y |
<a id="simulation_environment"></a>
@@ -63,12 +62,13 @@ In summary, HITL runs PX4 on the actual hardware using standard firmware, but SI
### PX4 Configuration
1. Connect the autopilot directly to _QGroundControl_ via USB.
1. Enable HITL Mode
1. Ensure your PX4 version was build with [`pwm_out_sim`](../modules/modules_driver.md#pwm-out-sim).
1. Open **Setup > Safety** section.
1. Enable HITL mode by selecting **Enabled** from the _HITL Enabled_ list:
![QGroundControl HITL configuration](../../assets/gcs/qgc_hitl_config.png)
1. Open **Analyze Tools > Mavlink Console**.
1. Type `pwm_out_sim status` in the console.
1. If the returned value is `nsh: pwm_out_sim: command not found`, then you don't have the module installed and you need to recompile your target with it.
Add `CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y` to your board configuration file, re-built it and re-flash it.
You can also use `make YOUR_TARGET boardconfig` and interactively enable it: **modules > Simulation > pwm_out_sim**.
1. Select Airframe
@@ -76,8 +76,6 @@ In summary, HITL runs PX4 on the actual hardware using standard firmware, but SI
1. Select a [compatible airframe](#compatible_airframe) you want to test.
Then click **Apply and Restart** on top-right of the _Airframe Setup_ page.
![Select Airframe](../../assets/gcs/qgc_hil_config.png)
1. Calibrate your RC or Joystick, if needed.
1. Setup UDP