Enable Hardware-In-The-Loop simulation for JSBSim #28

Jaeyoung-Lim · 2020-10-22T21:46:03Z

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 ENABLING HIL MODE IN JSBSIM BRIDGE #27

bkueng · 2020-10-28T08:35:59Z

include/configuration_parser.h

@@ -63,6 +60,9 @@ class ConfigurationParser {
  std::string getInitScriptPath() { return _init_script_path; }
  std::string getModelName() { return _model_name; }
  int getRealtimeFactor() { return _realtime_factor; }
+  bool getSerialEnabled() { return _serial_enabled; }
+  int getBaudrate() { return _baudrate; }
+  std::string getDevice() { return _device; }


Suggested change

std::string getDevice() { return _device; }

const std::string& getDevice() const { return _device; }

src/configuration_parser.cpp

bkueng · 2020-10-28T08:40:21Z

src/jsbsim_bridge.cpp

@@ -149,18 +149,35 @@ bool JSBSimBridge::SetFdmConfigs(ConfigurationParser &cfg) {
  }
 }

-bool JSBSimBridge::SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, TiXmlHandle &config) {
+bool JSBSimBridge::SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, ConfigurationParser &cfg) {


Suggested change

bool JSBSimBridge::SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, ConfigurationParser &cfg) {

bool JSBSimBridge::SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, const ConfigurationParser &cfg) {

bkueng · 2020-10-28T08:41:39Z

src/jsbsim_bridge.cpp

@@ -149,18 +149,35 @@ bool JSBSimBridge::SetFdmConfigs(ConfigurationParser &cfg) {
  }
 }

-bool JSBSimBridge::SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, TiXmlHandle &config) {
+bool JSBSimBridge::SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, ConfigurationParser &cfg) {
+  TiXmlHandle config = *cfg.XmlHandle();


Suggested change

TiXmlHandle config = *cfg.XmlHandle();

const TiXmlHandle& config = *cfg.XmlHandle();

bkueng · 2020-10-28T08:43:06Z

src/jsbsim_bridge.cpp

@@ -199,7 +216,12 @@ void JSBSimBridge::Run() {
  }

  // Receive and handle actuator controls
-  _mavlink_interface->pollForMAVLinkMessages();
+  bool hil_mode_ = true;


always true (?)

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 flag -d and -b. The bridge is configured to be run by HITL when the -d is provided. the baudrate is configured to be 921600 by default Enable HITL on mavlink interface This PR enables HITL on the mavlink interface Handle gcs udp port in config file

Co-authored-by: Beat Küng <beat-kueng@gmx.net>

fahadmaqbool16 · 2022-09-22T05:12:58Z

@Jaeyoung-Lim . Hi I am interested in running HITL with JSBSim bridge, Can you please guide me with the steps to follow for this. any help will be highly appreciated.

Jaeyoung-Lim · 2022-09-22T05:41:43Z

@fahadmaqbool16 The pull request already explains how to test this PR, what additional information do you need?

fahadmaqbool16 · 2022-09-22T05:46:01Z

@Jaeyoung-Lim thanks for your reply, when I run

HEADLESS=1 ./jsbsim_bridge rascal -d /dev/ttyACM0 -s ~/src/Firmware/Tools/jsbsim_bridge/scene/LSZH.xml

 in Tools directory I get

bash: ./Tools/jsbsim_bridge/: Is a directory

Nothing happens.

Jaeyoung-Lim · 2022-09-22T05:50:39Z

@fahadmaqbool16 If you read the PR description, your command does not match what I have described

Also your log says that what you tried to execute is a directory, therefore it is expected that nothing happens

fahadmaqbool16 · 2022-09-22T06:11:04Z

No, actually I was changing the directory to Tools to see if the command works, but it didn't. To clarify, I am

running this command HEADLESS=1 ./jsbsim_bridge rascal -d /dev/ttyACM0 -s ~/src/Firmware/Tools/jsbsim_bridge/scene/LSZH.xml

in the Tools directory, I get the error

ofp@ubuntu:~/PX4-Autopilot/Tools$ HEADLESS=1 ./jsbsim_bridge rascal -d /dev/ttyACM0 -s ~/src/Firmware/Tools/jsbsim_bridge/scene/LSZH.xml

bash: ./jsbsim_bridge: Is a directory

if this command is not correct, can you please tell the correct command,

fahadmaqbool16 · 2022-09-23T06:21:05Z

Hi, My bad, I was running the command in the Tools directory, now I am able to make the jsbsim bridge work by running that command (HEADLESS=1 ./jsbsim_bridge rascal -d /dev/ttyACM0 -s ~/src/Firmware/Tools/jsbsim_bridge/scene/LSZH.xml) from within the build directory (/PX4-Autopilot/build/px4_sitl_default/build_jsbsim_bridge). My pixhawk is detected on the serial port as shown in the image below.

QGC is also able to connect with pixhawk but i am unable to arm the vehicle as the vehicle launch position is not showing in QGC.

running dmesg in the MAVLINK console shows the follwing output.

PS: I replaced the px4_jsbsim_bridge files from this repo. (https://github.com/Auterion/px4-jsbsim-bridge/tree/f88764b091a8f5bc5f98893f07c63b56682a1420)

Jaeyoung-Lim · 2022-09-23T06:38:35Z

PS: I replaced the px4_jsbsim_bridge files from this repo. (https://github.com/Auterion/px4-jsbsim-bridge/tree/f88764b091a8f5bc5f98893f07c63b56682a1420)

@fahadmaqbool16 You can't do that it only works with this specific branch

ParamDeshpande · 2022-11-07T13:26:58Z

src/jsbsim_bridge.cpp

+    interface->SetSerialEnabled(cfg.getSerialEnabled());
+    interface->SetDevice(cfg.getDevice());
+    interface->SetBaudrate(cfg.getBaudrate());
+    interface->SetHILStateLevel(true);


interface->SetHILStateLevel(false); this fixes GPS Lock issue

cafrank · 2023-11-12T04:40:03Z

src/jsbsim_bridge.cpp

std::shared_ptrJSBSim::FGInitialCondition initial_condition = _fdmexec->GetIC();

Jaeyoung-Lim mentioned this pull request Oct 22, 2020

ENABLING HIL MODE IN JSBSIM BRIDGE #27

Open

Jaeyoung-Lim changed the title ~~Add device /baudrate for configuration options~~ Enable Hardware-In-The-Loop simulation for JSBSim Oct 22, 2020

Jaeyoung-Lim force-pushed the pr-hil-support branch from 9f4a187 to 7a7aff1 Compare October 22, 2020 22:32

Jaeyoung-Lim added the HITL label Oct 22, 2020

xfahad100 approved these changes Oct 23, 2020

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Jaeyoung-Lim force-pushed the pr-hil-support branch 2 times, most recently from 97bb7de to 411ee67 Compare October 24, 2020 16:30

xfahad100 approved these changes Oct 25, 2020

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Jaeyoung-Lim marked this pull request as ready for review October 27, 2020 21:31

Jaeyoung-Lim requested a review from bkueng October 27, 2020 21:31

This was referenced Oct 27, 2020

Patch 2 #36

Closed

Patch 1 #35

Closed

bkueng reviewed Oct 28, 2020

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Jaeyoung-Lim force-pushed the pr-hil-support branch 3 times, most recently from d12eef0 to 774fa81 Compare November 2, 2020 16:51

Jaeyoung-Lim force-pushed the pr-hil-support branch from 774fa81 to a6faffc Compare November 2, 2020 16:54

Update src/configuration_parser.cpp

1f50d53

Co-authored-by: Beat Küng <beat-kueng@gmx.net>

Jaeyoung-Lim mentioned this pull request Oct 31, 2022

plane can't runaway take off in HITL mode #60

Open

ParamDeshpande mentioned this pull request Nov 3, 2022

HITL, No GPS Lock for Vehicle over serial #61

Closed

ParamDeshpande reviewed Nov 7, 2022

View reviewed changes

tayyabkhalil-313 mentioned this pull request Dec 19, 2022

Add support for HIL #64

Open

cafrank suggested changes Nov 12, 2023

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src/jsbsim_bridge.cpp

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std::shared_ptrJSBSim::FGInitialCondition initial_condition = _fdmexec->GetIC();

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Enable Hardware-In-The-Loop simulation for JSBSim #28

Enable Hardware-In-The-Loop simulation for JSBSim #28

Jaeyoung-Lim commented Oct 22, 2020 •

edited

bkueng Oct 28, 2020

bkueng Oct 28, 2020

bkueng Oct 28, 2020

bkueng Oct 28, 2020

fahadmaqbool16 commented Sep 22, 2022

Jaeyoung-Lim commented Sep 22, 2022

fahadmaqbool16 commented Sep 22, 2022

Jaeyoung-Lim commented Sep 22, 2022

fahadmaqbool16 commented Sep 22, 2022

fahadmaqbool16 commented Sep 23, 2022

Jaeyoung-Lim commented Sep 23, 2022

ParamDeshpande Nov 7, 2022

cafrank Nov 12, 2023

	std::string getDevice() { return _device; }
	const std::string& getDevice() const { return _device; }

	bool JSBSimBridge::SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, ConfigurationParser &cfg) {
	bool JSBSimBridge::SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, const ConfigurationParser &cfg) {

	TiXmlHandle config = *cfg.XmlHandle();
	const TiXmlHandle& config = *cfg.XmlHandle();

Enable Hardware-In-The-Loop simulation for JSBSim #28

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Enable Hardware-In-The-Loop simulation for JSBSim #28

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Jaeyoung-Lim commented Oct 22, 2020 • edited

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fahadmaqbool16 commented Sep 22, 2022

Jaeyoung-Lim commented Sep 22, 2022

fahadmaqbool16 commented Sep 22, 2022

Jaeyoung-Lim commented Sep 22, 2022

fahadmaqbool16 commented Sep 22, 2022

fahadmaqbool16 commented Sep 23, 2022

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ParamDeshpande Nov 7, 2022

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Jaeyoung-Lim commented Oct 22, 2020 •

edited