px4-jsbsim-bridge
px4-jsbsim-bridge copied to clipboard
Enable Hardware-In-The-Loop simulation for JSBSim
Describe problem solved by this pull request
Currently the px4-jsbsim-bridge
can only be used to run Software-In-The-Loop(SITL) simulations. While this is useful for evaluating the software changes in firmware, it may not reveal issues that may appear only deployed on hardware. PX4 also supports Hardware-In-The-Loop(HITL) simulation. However, this was not exposed to the jsbsim-bridge
Describe your solution This commit adds configuration options for running HITL simulation with the PX4 JSBSim bridge.
The device path / baudrate can be passed with the command line when running the binary directly with flag -d
and -b
.
e.g.
HEADLESS=1 ./jsbsim_bridge rascal -d /dev/ttyACM0 -s ~/src/Firmware/Tools/jsbsim_bridge/scene/LSZH.xml
or to set the baudrate
HEADLESS=1 ./jsbsim_bridge rascal -d /dev/ttyACM0 -b 921600 -s ~/src/Firmware/Tools/jsbsim_bridge/scene/LSZH.xml
The bridge is configured to be run with a HITL when the device path -d
is provided. The baudrate is configured to be 921600
by default, but can be also configured through a -b
flag.
Test data / coverage WIP
Additional context
- Fixes https://github.com/Auterion/px4-jsbsim-bridge/issues/27