[Paparazzi-devel] Paparazzi Hardware in loop Simulation

[GURUGANESH R]

Dear Paparazzi users,
    I am sending this email again and again, sorry for trouble....We are team of scientist from an aerospace lab in India. We are working in the TWOG
 paparazzi autopilot board for quite some time. We wanted to connect the
 paparazzi board with the host simulator and run the Hardware in the 
loop simulation. From the wiki page of paparazzi, we have learnt that we
 can connect the AP board through the USB cable and commands computed by
 the autopilot are sent to the flight model which 
sends back simulated values of the sensors output (e.g infrared and 
GPS) back to the AP board. In that case I have certain doubts.

1)
 Is it possible to send the following  data V, alpha, beta, p, q, r, 
phi, psi and theta from the flight model to the autopilot board along 
with the infrared sensor and GPS data.
2) If so how to do it, where in the source code we need to make changes.
3)
 Instead of simulated actuators can we have physical actuators in the 
HITL. Any provision is made in the paparazzi HITL code to acquire the 
analog voltage corresponding to the  actuator output.
4) Is it possible to connect an SD card to log the data from the 
autopilot board through the SPI bus which is available in the board. if 
so how many data we can log and how do we decide the rate of logging.

These are all my doubts.It would be great help if anyone help in 
troubleshooting this problem. Please write to me if you have answers to 
any one of my doubts.