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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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conf/conf_tests.xml
+22
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@@ -87,4 +87,26 @@
settings_modules="modules/ahrs_float_mlkf.xml modules/ahrs_int_cmpl_quat.xml modules/air_data.xml modules/electrical.xml modules/geo_mag.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/nav_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="blue"
/>
<aircraft
name="Matek_FW_HITL"
ac_id="2"
airframe="airframes/examples/matek_h7_fixedwing_hitl.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_fixedwing.xml"
flight_plan="flight_plans/basic.xml"
settings="settings/fixedwing_basic.xml"
settings_modules="modules/air_data.xml modules/electrical.xml modules/gps.xml modules/guidance_full_pid_fw.xml modules/imu_common.xml modules/ins_float_invariant.xml modules/nav_basic_fw.xml modules/stabilization_adaptive_fw.xml"
gui_color="red"
/>
<aircraft
name="Matek_RC_HITL"
ac_id="4"
airframe="airframes/examples/matek_h7_rotorcraft_hitl.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_basic.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/air_data.xml modules/electrical.xml modules/gps.xml modules/guidance_pid_rotorcraft.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/ins_ekf2.xml modules/nav_rotorcraft.xml modules/stabilization_int_quat.xml"
gui_color="red"
/>
</conf>