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SITL in gazebo 8 with ArduCopterPlugin

SITL (software in the loop) simulator allows you to run betaflight/cleanflight without any hardware. Currently only tested on Ubuntu 16.04, x86_64, gcc (Ubuntu 5.4.0-6ubuntu1~16.04.4) 5.4.0 20160609.

install gazebo 8

see here: Installation

copy & modify world

for Ubunutu 16.04: cp /usr/share/gazebo-8/worlds/iris_arducopter_demo.world .

change real_time_update_rate in iris_arducopter_demo.world: <real_time_update_rate>0</real_time_update_rate> to <real_time_update_rate>100</real_time_update_rate> this suggest set to non-zero

100 mean what speed your computer should run in (Hz). Faster computer can set to a higher rate. see here for detail. max_step_size should NOT higher than 0.0025 as I tested. smaller mean more accurate, but need higher speed CPU to run as realtime.

build betaflight

run make TARGET=SITL

settings

to avoid simulation speed slow down, suggest to set some settings belows:

In configuration page:

  1. ESC/Motor: PWM, disable Motor PWM speed Sparted from PID speed
  2. PID loop frequency as high as it can.

start and run

  1. start betaflight: ./obj/main/betaflight_SITL.elf
  2. start gazebo: gazebo --verbose ./iris_arducopter_demo.world
  3. connect your transmitter and fly/test, I used a app to send MSP_SET_RAW_RC, code available here.

note

betaflight -> gazebo udp://127.0.0.1:9002 gazebo -> betaflight udp://127.0.0.1:9003

UARTx will bind on tcp://127.0.0.1:576x when port been open.

eeprom.bin, size 8192 Byte, is for config saving. size can be changed in src/main/target/SITL/pg.ld >> __FLASH_CONFIG_Size