Reference point HITL simulation

[softsr]

This simulation is working on the rotorcrafts autopilot side (does not need any external data over telemetry), simulates the full behaviour of the AP in HOVER and NAV hotizontal (vertical) modes (assuming reference generation usage). Allows to fully simulate the flightplan with any extra modules/devices connected to the AP.
To turn it on, simply change in your airframe setup file the gps and ins subsystems to "sim_hitl":

[flixr]

Why have a ins_sim_hitl subsystem which is the same as just ins.makefile?
Also why use ins_int if you proceed to disable the baro and the vff? Would make more sense to use the ins_gps_passthrough in this case.

And could you please add the usual license/author/doxygen file header including brief and detailed description to gps_sim_hitl.

Maybe we can also find a more fitting name than HITL for this...

[softsr]

ins_sim_hitl has extra DUSE_HFF=0 flag set. But actually it coud just be used SIM_HITL define.
Is it possible to calculate UTM from NED using only state interface? I can't find any function returning local UTM origin.

[softsr]

Moreover ins_gps_passthrough is currently made only for fixedwings

[flixr]

Well, supplying -DUSE_HFF=0 has the same effect as not supplying it at all.... so no need for it.

It would make a lot more sense to update ins_gps_passthrough to also set the missing state variables for rotorcrafts, than using ins_int and proceeding to disable/overwrite everything it actually does...

See http://docs.paparazziuav.org/latest/group__state__position.html for getting the current position (e.g. as UTM representation) from state interface.
If want to convert some arbitrary other NED position to UTM, you can use e.g. UTM_OF_NED_ADD(utm_pos_f, ned_pos_f, ned_origin_in_utm_f)

[softsr]

Do you mean to move the ins_gps_passthrough to shared directory?
I would rather hold the rotorcrafts default ecef coordinates with extra ins_impl.ltp_def variable. So then the code in ins_gps_passthrough need to be separated to rotorcraft and fixedwing parts by defines.

[softsr]

It would probably be better to create an extra ins_gps_passthrough subsystem for the rotorcraft code.

[flixr]

Should now work in master with 2446fc0 and 7745958
@softsr could you please check if it work with ins gps_passthrough

[softsr]

@flixr it works with both commits, choosing sim_hitl for gps subsystem and gps_passthrough for ins.

[flixr]

Great, thanks for checking again.