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[hitl] rewrite support for hardware in the loop simulation (#3146)
- 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
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@@ -8,9 +8,7 @@ Hardware in the Loop
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Hardware In The Loop (HITL) simulation is a way to test an embedded system (the real hardware and software) by simulating its environment,
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ie. sensor inputs, and comparing its output, ie. actuator outputs, to expected output values.
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It is the closest to an actual flight without actually flying. Using Paparazzi's Software In The Loop (SITL) and HITL for validation of a
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flight dynamics of a fixed wing UAV is in detail described in a paper "Software-and hardware-in-the-loop verification of flight dynamics
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model and flight control simulationof a fixed-wing unmanned aerial vehicle" by Cal Coopmans and Michal Podhradsky. Refer to the paper for more details.
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It is the closest to an actual flight without actually flying.
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Principle
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-----------
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@@ -38,17 +36,19 @@ Commands computed by the autopilot are sent to the flight model which sends back
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Limitations
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-----------------
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.. warning::
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HITL currently works only with Pprzlink 1.0, which is not supported anymore. The code might not work as desired yet.
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For practical reasons (it is very difficult to simulate SPI/I2C devices such as accelerometer, gyroscope etc.),
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Paparazzi HITL simulates only sensors that connect to the autopilot via serial port (for example GPS unit, or an external AHRS/INS).
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Currently implemented is Vectornav VN-200 in INS mode, but other sensors and modes can be added (i.e. VN-200 as IMU, Xsens INS etc.).
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Because the benefit of HITL is to test the autopilot code that is identical to the actual flight code, no other means of transporting
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sensor data to the autopilot are currently supported (such as sending them through uplink).
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Paparazzi HITL simulates sensors and sends them through a dedicated link (independent of the telemetry link). It is thus recommanded to use
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the *usb_serial* driver or if not available a serial link with high baudrate.
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Another consideration is the bandwidth of the system - the sensor data and the actuator values have to be send/received at ``PERIODIC_FREQUENCY`` (between 40-512 Hz) for HITL to work correctly.
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Another consideration is the bandwidth of the system - the sensor data and the actuator values have to be send/received at ``PERIODIC_FREQUENCY`` (between 40-512 Hz) for HITL to work correctly. Not all communication links and frequencies are feasible without introducing latency or bandwidth saturation.
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As an example, for rotorcraft with a periodic frequency of 500 Hz with default settings:
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- ``HITL_IMU`` message (45 bytes) comes at 500 Hz
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- ``HITL_GPS`` message (42 bytes) comes at 10 Hz
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- ``HITL_AIR_DATA`` message (26 bytes) comes at 50 Hz
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Total bandwidth is 24220 bytes/s. A standard UART has 10 bits per bytes, so a baudrate of at least 242200 is required. To give enough margins and reduce latency, the default baudrate is set to 921600. A USB serial, even at low speed, has a baudrate of more than 1 Mb/s.
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When to use SITL and when HITL?
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------------------------------------
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@@ -63,6 +63,10 @@ has been configured. Usually HITL is the last thing to run before going flying.
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Prerequisites
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--------------------
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.. warning::
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some recommendations may not apply, in particular if real USB is used instead of UART or UART-USB bridge
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HITL currently (Ubuntu 16.04) needs the following two steps to run correctly:
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- set rtpriority for the uart threads detailes `here <https://stackoverflow.com/questions/8111302/why-does-pthread-setschedparam-produce-eperm-on-opensuse-11-4>`_
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@@ -80,156 +84,66 @@ HITL currently (Ubuntu 16.04) needs the following two steps to run correctly:
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Configuration
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------------------------
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.. warning::
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HITL support as changed in version 6.3, older procedure (especially described in the `wiki <https://wiki.paparazziuav.org/wiki/HITL>`_, no longer applies
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HITL can currently run on any that has:
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- Serial port for Vectornav INS input (provides position and orientation data, including GPS coordinates)
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- Serial port for additional high-speed telemetry output (so not your regular 57600 telemetry)
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- Serial port (at high speed) or USB for sending commands and receiving sensor data
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- Other serial/io for regular telemetry, RC input etc.
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If you have high-speed telemetry (like over WiFi) it should be possible to use only one telemetry link and demux the messages on GCS,
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but it is not currently supported. Note that HITL is timing sensitive (at 512Hz you need to receive, process, and send data every ~2ms).
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Note that HITL is timing sensitive (at 512Hz you need to receive, process, and send data every ~2ms).
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HITL has been tested on:
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Examples are provided based on the Matek H7 Slim: ``conf/airframes/examples/matek_h7_fixedwing_hitl.xml`` and ``conf/airframes/examples/matek_h7_rotorcraft_hitl.xml``
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- Lisa M/MX (exampes for `fixedwing <https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml>`_ and
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`rotorcraft <https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/AGGIEAIR/aggieair_ark_hexa_1-8.xml>`_)
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- Umarim v 2.0 (example for `fixedwing with Unarim <https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/AGGIEAIR/El_Captain.xml>`_)
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.. figure:: images/hitl_gcs.jpg
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We recommend a dedicated computer for HITL, with enough CPU power and memory, and a nice graphics card for :ref:`flightgear` visualisation
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(see the test station in the picture). HITL can run on a regular laptop too (tested on both Lenovo Thinkpad and Toughbooks).
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The airframe needs to contain:
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.. figure:: images/600px-HITL_station.jpg
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* ``sensors_hitl`` module in main firmware section
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* ``actuators_hitl`` module in main firmware section
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* a specific HITL firmware section ``<firmware name="generic_hitl">...</firmware>`` that contains an ``hitl`` target with the selected FDM and the module ``nps_hitl_sensors``
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Hardware-in-the-loop (HITL) test station in simulated flight
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.. warning::
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an ariframe file configured for HITL simulation can usually also be used with normal SITL simulation, but is not compatible with normal ``ap`` target as the sensors and actuators drivers are replaced by simulation modules
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There are a few example airframes to choose from. Let's start with a fixed wing airplane and walk you through step by step. Get a fresh copy of the latest paparazzi and do:
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Modules in main firmware section
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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.. code-block:: php
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Here is an example of configuration for fixedwing or rotorcraft using an USB link (alternate debug link, primary `usb_serial` is used for telemetry):
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# in prrz root dir
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./start.py
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.. code-block:: xml
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and choose AggieAir's ``conf`` and ``control panel``:
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<configure name="HITL_PORT" value="usb_serial_debug"/>
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<configure name="USE_HARD_FAULT_RECOVERY" value="FALSE"/>
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<module name="sensors" type="hitl">
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<define name="USE_BATTERY_MONITOR"/>
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</module>
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<module name="actuators" type="hitl"/>
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.. figure:: images/Aggieair_conf.png
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It is preferable to disable the hard fault recovery mode for HITL.
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Select AggieAir's conf and control panel and then Launch
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Choose **Minion_RP3** airframe:
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.. figure:: images/900px-Minion_rp3_airfame.png
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Minion RP3 airfame
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and click on **Edit**. The airframe file is on github: https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml For HITL to work, there have to be 4 things:
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- `extra_dl <https://github.com/paparazzi/paparazzi/blob/master/conf/modules/extra_dl.xml>`_ telemetry module
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- specified ``COMMANDS`` (Fixedwing) or ``ACTUATORS`` (rotorcrafts) Extra telemetry message in the telemetry config file (an example `with AggieAir here <https://github.com/paparazzi/paparazzi/blob/master/conf/telemetry/AGGIEAIR/aggieair_fixedwing.xml#L108>`_)
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- HITL target
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- Airframe configured to use external INS
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Extra_DL Module
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^^^^^^^^^^^^^^^^^^^^^^
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This is the additiona high speed telemetry link that sends the actuators data back to the FDM.
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.. code-block:: php
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# in your airframe config file
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<module name="extra_dl">
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<!-- in order to use uart1 without chibios we need to remap the peripheral-->
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<define name="REMAP_UART1" value="TRUE"/>
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<configure name="EXTRA_DL_PORT" value="UART1"/>
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<configure name="EXTRA_DL_BAUD" value="B921600"/>
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</module>
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If you have `Umarim <https://wiki.paparazziuav.org/wiki/Umarim_Lite_v2>`_ board or similar, you can also use a usb serial port:
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.. code-block:: php
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# in your airframe config file
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<module name="extra_dl">
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<configure name="EXTRA_DL_PORT" value="usb_serial"/>
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<configure name="EXTRA_DL_BAUD" value="B921600"/>
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</module>
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Telemetry config file
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^^^^^^^^^^^^^^^^^^^^^^^^
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Just add this section to your telemetry config file:
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.. code-block:: php
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# in your telemetry config file
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<process name="Extra">
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<mode name="default">
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<message name="COMMANDS" period="0.01"/>
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</mode>
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</process>
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The period has to be matching your ``PERIODIC_FREQUENCY`` - best if you explicitly define all the frequencies to avoid ambiguity:
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.. code-block::
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# in your airfame config file
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<!-- NOTE: if you want to use extra_dl module for HITL
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you have to set TELEMETRY_FREQUENCY to CONTROL_FREQUENCY -->
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<configure name="PERIODIC_FREQUENCY" value="100"/>
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<define name="CONTROL_FREQUENCY" value="100"/>
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<configure name="TELEMETRY_FREQUENCY" value="100"/>
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<define name="SERVO_HZ" value="100"/>
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NOTE: the ``TELEMETRY_FREQUENCY`` has to match your ``PERIODIC_FREQUENCY``
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Since the sensors data received are IMU, GPS and barometer data, any internal INS/AHRS filter compatible with your airframe should work.
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HITL Target
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^^^^^^^^^^^^^^^
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Add the target in your airfame config file:
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Add an extra firmware and an ``hitl`` target in your airfame config file:
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.. code-block:: php
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.. code-block:: xml
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# in your airfame config file
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<target name="hitl" board="pc">
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<module name="fdm" type="jsbsim"/>
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<configure name="INS_DEV" value="/dev/ttyUSB1"/>
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<configure name="INS_BAUD" value="B921600"/>
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<configure name="AP_DEV" value="/dev/ttyUSB2"/>
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<configure name="AP_BAUD" value="B921600"/>
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</target>
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What does it mean? First, we have to specify the FDM for the HITL simulation. We recommend :ref:`jsbsim`, but any FDM that :ref:`nps` supports should work (because NPS is the backend for HITL).
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Then we have to specify the serial ports to talk to the autopilot. ``INS_DEV`` is the port your external INS (such as Vectornav) is using.
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AP_DEV is the port for the extra telemetry. Make sure your baud rates are matching too.
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Note that you can either specify the devices in ``/dev/ttyUSB*`` format, which makes it universal across different USB-to-serial converters,
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but you have to remember to plug in the ports in the right order (since they enumerate sequentially).
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The other option is to specify the ``/dev/serial/by-id/usb-FTDI_*****`` format, in which case it doesn't matter in which order you plug the
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devices in, but you can use it only for a particular FTDI converter.
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It might be handy to use a simple Lia breakout board for connecting all the serial
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ports - `the breakout board files are available here <https://github.com/paparazzi/paparazzi-hardware/tree/master/controller/lia/breakout_board>`_.
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.. figure:: images/500px-Liabreakoutboard.jpeg
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Lia breakout board
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Airframe Configuration for External INS
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Indeed, HITL will work only if your aiframe is configured to use external INS of some sort. In our example, we specify using Vectornav:
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.. code-block::
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# in your airfame config file
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<module name="ins" type="vectornav">
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<configure name="VN_PORT" value="UART2"/>
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<configure name="VN_BAUD" value="B921600"/>
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<firmware name="generic_hitl">
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<target name="hitl" board="pc">
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<module name="fdm" type="jsbsim"/>
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<module name="nps" type="hitl_sensors">
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<define name="AP_DEV" value="/dev/ttyACM1" type="string"/>
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</module>
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</target>
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</firmware>
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See the `Minion_RP3 airframe config <https://github.com/paparazzi/paparazzi/blob/master/conf/airframes/AGGIEAIR/aggieair_minion_rp3_lia.xml>`_ for more details.
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We have to specify the FDM for the HITL simulation. We recommend :ref:`jsbsim`, but any FDM that :ref:`nps` supports should work (because NPS is the backend for HITL).
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``AP_DEV`` correcponds to the serial link which is used to have a direct communication with the autopilot and exchange commands and data. It as to match the one selected on the airborne side (``usb_serial_debug`` in example above).
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Running
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@@ -237,42 +151,17 @@ Running
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Once you have your setup completed:
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- Clean, compile and upload the AP target (HINT: use keyboard shortcuts **Alt+C** to **Clean**, **Alt+B** to **Build** and **Alt+U** to **Upload**)
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- Clean and build HITL target
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- Choose ``HITL USB-serial@57600`` session and Execute
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- Clean, compile and upload the `hitl` target. This target will build at the same time the `ap` target and the ground part for simulation. It is also possible to build separately the AP and then HITL but it is not recommended.
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- Choose ``HITL demo`` session and Execute
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.. note::
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If you want to use your own session, you have to pass ``-t hitl`` flag into ``sw/simulator/pprzsim-launch`` to start in HITL mode.
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Have a look at the ``HITL USB-serual@57600`` session for example, or add this to your own:
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Messages will pop up and you can verify that you are getting data by looking at the ``VECTORNAV_INFO`` message:
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.. figure:: images/300px-Hitl_messages.png
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VECTORNAV_INFO message
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And once you take-off you will see something like this:
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.. figure:: images/1000px-Hitl_flight.png
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HITL Flight with fixedwing airplane
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Similar steps work for rotorcraft.
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SBUS Fakerator
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^^^^^^^^^^^^^^^^^^^^^
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A simple tool simulating SBUS radio inputs is available. It is useful if you don't have a radio around, and want to test flight in manual mode.
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It has to be used with a `Sbus_fakerator radio config file <https://github.com/paparazzi/paparazzi/blob/master/conf/radios/AGGIEAIR/aggieair_sbus_fakerator.xml>`_ and it requires an additional serial port (for example ``/dev/ttyUSB3``).
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It can be launched as a tool from the Paparazzi center.
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Source code is available at: https://github.com/paparazzi/paparazzi/tree/master/sw/tools/sbus_fakerator
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.. figure:: images/300px-Sbus_fakerator.png
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SBUS fakerator tool
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FlightGear
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^^^^^^^^^^^^^
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@@ -302,5 +191,4 @@ Then I believe you have to restart your computer in order for limits to refresh.
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Happy flying!
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.. figure:: images/600px-Minion_HITL.png
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@@ -4,15 +4,20 @@
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Simulation
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===========================
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Paparazzi currently has two different simulator targets with different degrees of realism and intended purpose:
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.. figure:: PPRZ_Simulation.png
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- **sim**: The basic fixedwing simulator written in OCaml without IMU simulation or any sensor models (noise, bias, etc) and mainly intended to validate your :ref:`flightplans` logic.
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- **nps**: NPS is a more advanced rotorcraft and fixedwing simulator with sensor models and commonly uses JSBSim as FDM (Flight Dynamic Model).
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Other FDM's can be integrated easily. At the moment CRRCSIM, YASIM and JSBSIM are tried as FDM backend.
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- **gazebo**: There is someting brand new developed going, using laters Master you can start using the Gazebo engine in Paparazzi.
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Take a look on that page to see if it offers what you are looking for.
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Architecture for software or hardware in the loop simulation
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A FDM is a set of mathematical equations used to calculate the physical forces acting on a simulated aircraft, such as thrust, lift, and drag.
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Paparazzi currently has two different simulator targets with different degrees of realism and intended purpose:
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* **sim**: The basic fixedwing simulator written in OCaml without IMU simulation or any sensor models (noise, bias, etc) and mainly intended to validate your :ref:`flightplans` logic.
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* **nps**: NPS is a more advanced rotorcraft and fixedwing simulator with sensor models and commonly uses JSBSim as FDM (Flight Dynamic Model). Other FDM's can be integrated easily. At the moment JSBSIM, CRRCSIM, GAZEBO and PyBullet are supported as FDM backend. It is also possible to implement ad-hoc simulation code, based on Matlab/Simulink generated code for instance.
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* **JSBSim**: a flight dynamic library used by default by various simulation sofware including Flight Gear.
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* **gazebo**: Gazebo can be used as flight dynamic engine, but its main interest is to generate virtual sensor readings (cameras, lidars, ...) from a 3D realistic environment.
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Take a look on that page to see if it offers what you are looking for.
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* **PyBullet**: Bullet is a physics simulation engine (simular to gazebo) that allows to easily express the different forces applied to the drones in a high level language thanks to the bindings with Python.
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* **hitl**: Hardware in the Loop simulation can be used to run the autopilot on a real flight controller while the flight dynamic model is runing on the host computer.
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.. toctree::
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:maxdepth: 1
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@@ -20,4 +25,4 @@ A FDM is a set of mathematical equations used to calculate the physical forces a
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simulation/sim
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simulation/nps
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simulation/gazebo
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simulation/hitl
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simulation/hitl
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