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[hitl] rewrite support for hardware in the loop simulation (#3146)

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- old way (based on ins_vectornav) is not supported anymore
- directly send sensor data and receive commands with a dedicated link
- examples with USB link for better results
- update sphinx documentation
- compilation in a single build
This commit is contained in:
Gautier Hattenberger
2023-10-31 14:48:55 +01:00
committed by GitHub
parent 094997af4b
commit 4ae40567ed
108 changed files with 1684 additions and 1276 deletions
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Makefile.ac
+18
View File
@@ -195,6 +195,16 @@ endif
@echo "#######################################"
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) PAPARAZZI_QT_GEN=$(PAPARAZZI_QT_GEN) TARGET=$* Q=$(Q) $(GENERATORS)/gen_aircraft.out -all -name $(AIRCRAFT) -target $* -conf $(CONF_XML)
# generate headers for HITL as is it was AP target
hitl.ac_h : $(GENERATORS)/gen_aircraft.out
$(Q)if (expr "$(AIRCRAFT)") > /dev/null; then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
@echo "#######################################"
@echo "# BUILD AIRCRAFT=$(AIRCRAFT), TARGET hitl"
@echo "#######################################"
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) PAPARAZZI_QT_GEN=$(PAPARAZZI_QT_GEN) TARGET=hitl Q=$(Q) $(GENERATORS)/gen_aircraft.out -airframe -flight_plan -settings -name $(AIRCRAFT) -target hitl -conf $(CONF_XML)
$(Q)rm -f $(AIRCRAFT_BUILD_DIR)/Makefile.ac
$(Q)PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME) PAPARAZZI_QT_GEN=$(PAPARAZZI_QT_GEN) TARGET=ap Q=$(Q) $(GENERATORS)/gen_aircraft.out -all -name $(AIRCRAFT) -target ap -conf $(CONF_XML)
%.qt: %.ac_h
@echo "GENERATED Qt project"
@@ -202,9 +212,17 @@ endif
$(MAKE) TARGET=$* -f Makefile.ac all_ac_h
cd $(AIRBORNE); $(MAKE) -j$(NPROCS) TARGET=$* all
hitl.compile: hitl.ac_h | print_version
$(MAKE) TARGET=ap -f Makefile.ac all_ac_h
cd $(AIRBORNE); $(MAKE) -j$(NPROCS) TARGET=ap all
cd $(AIRBORNE); $(MAKE) -j$(NPROCS) TARGET=hitl AP_LAUNCH=$(shell grep '<dl_setting ' $(AIRCRAFT_BUILD_DIR)/settings.xml | grep 'autopilot.launch' -n | cut -d ':' -f 1) all
%.upload: %.compile
cd $(AIRBORNE); $(MAKE) TARGET=$* upload
hitl.upload: hitl.compile
cd $(AIRBORNE); $(MAKE) TARGET=ap upload
clean_ac :
$(Q)if (expr "$(AIRCRAFT)") > /dev/null; then : ; else echo "AIRCRAFT undefined: type 'make AIRCRAFT=AircraftName ...'"; exit 1; fi
@echo "CLEANING $(AIRCRAFT)"