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3.1 HITL PX4
Part 3 is HITL (hardware in the loop) simulation (part 1 was total sim (connections were TDP, UDP, USB, etc) and part 2 was AI algorithms).
This Part 3 section 3-1 for PX4 firmware (I am using Pixhawk 6c). The focus is on
- jMAVsim flight testing (emulation of the missing copter HW)
- while (from #1-4) increasing the amount of real HW (without actual building the copter (that's part 4)
This page summarizes main test stages (latest first) (this is my own conceptual approach... I could very well be mistaken in my assumptions):
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#4 Final HITL test using the max possible of
- Real HW
- Flight ready wiring
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#3 Flight ready wiring. Finding how to flight-ready conect HW components (also explore Win11, Ubuntu test connections). I am new to this, so its messy learning experience :) .
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#2 Jetson Nano Object recognition sends land command to Pixhawk 6c FC. To #1 add Nano + camera. Nano object_recognizes a person (me), then (via UDP) using Pymavlink sends Mavlink command to force land the copter.
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#1 HITL on PX4 (firmware) / Pixhawk 6C (hardware) using jMavSim + QGC. Ubuntu runs copter frame + world sim with real 6c (FC). Ubuntu connected to 6c via USB. Shown in the following diagram.
The #4 goal is sim flight testing using HW2 (the battery + power distribution (PD) module (part of the copter frame kit)). At this point (24.0320), much of this is a guess. But I think something like following diagram. See doc 3.1-4_hitl1_px4_nano-6c_final_testing_v01_24.0320.docx.
Determine actual flight wiring that works. And test. This is turning out to be more difficult than I thought. All I have gotten working so far between the Nano and 6c is [ Nano dev kit USB <> 6c USB TTL port (on front of device) ]. See section "7.4b nano usb <> 6c usb ttl W/ Generic USB (WORKS!!) 24.0318" in doc 3.1-3_hitl1_px4_nano-6c_connection_v15_24.0320.docx.
Verify that Nano/camera object recognition and Pymavlink flight commands (Mavlink) work.
For details and notes see 3.1-2_hitl1_px4_nano+camera+objrecog_vxx_24.xxxx.docx.
HITL + jMAVsim work on my new Pixhawk 6c! For details and notes see 3.1_hitl1_px4_v06_24.0306.docx.
https://discuss.ardupilot.org/t/pixhawk-led-definitions/1139/3
The LEDs are
FMU PWR = Flight management Unit Power FMU B/E = FMU Processor in Bootloader mode (flashing) or Error (Steady)
I/O PWR = Input/ Output Power I/O B/E = I/O processor in Bootloader mode (flashing) or Error (Steady)
ACT = Activity (a flashing heartbeat) indicating everything is ok
I’ll get that added to the documentation
https://docs.px4.io/main/en/assembly/quick_start_pixhawk6c.html
https://docs.px4.io/main/en/assembly/quick_start_pixhawk6c.html
https://docs.px4.io/main/en/airframes/airframe_reference.html
https://ardupilot.org/copter/docs/advanced-pixhawk-quadcopter-wiring-chart.html
https://ardupilot.org/copter/docs/common-telemetry-port-setup.html
https://holybro.com/products/pixhawk-6c
https://docs.holybro.com/autopilot/pixhawk-6c
https://docs.holybro.com/autopilot/pixhawk-6c/sample-wiring-diagram
https://docs.holybro.com/autopilot/pixhawk-6c/download (Pixhawk 6C CAD 3D File)
2024.0628 (8) (29th proizd) Wiki, Gdrive, Youtube, ZiptieAI.com, ZiptieAI docs. The author is looking for a job!
(0) Reference
EPIC 1 - Build/fly FPV drone
(1) FPV simulators (inav notes 0608)
- 2.0 Technical overviews
- 2.1 MVP (min viable platform)
- 2.2 GPS
- 2.3 Video
- 2.4 Carbon frame
- 2.5 Missions
- 2.6 Tuning (new)
- 2.7 Post-crash rebuild 24.0620
(3) SBeeF405/BF (1b)
(4) SBeeF405/AP (1c)
EPIC 2 - Build/fly Pixhawk drone
(5) Pix6c/PX4 (2a)
(6) Pix6c/AP (2b)
EPIC 3 - Add AI to Pixhawk drone
(7) AI JNano (7.2)
- 7.0 Tech overviews (?)
- 7.1 Config object recog (Jnano+cam)
- 7.2 Kitchen build/test
- 7.3 Field build/test
(8) AI PI5 (7.1) (TODO)
EPIC 4 – Advanced AI
(11) FC FW Mavlink API (via CC/GCS APIs) (5.3)
(12) ROS (+ROSMAV)
(10) (skip) SITL (total sim) (1)
- 10.1 SITL AP Core (SITL, Gaz, ROS)
- 10.2 SITL AP C++ mission as ROS node
- 10.3 SITL AP AI Yolo obj recog
- 10.4 SITL AP Lidar obj avoid
- 10.5 SITL AP Drone swarm
- 10.6 SITL AP Flight planners
- 10.7 SITL PX4 Core (SITL, Gaz, ROS)
EPIC 5 – Advanced platforms
(14) Firmware dev (5)
(14b) Matlab (added 24.0625)
(16) Special projects (5.6,5.5)