Re: [Paparazzi-devel] Paparazzi Hardware in loop Simulation

[Stephen Dwyer]

Hello,

As no one else has answered this, I will do my best (others will
undoubtedly correct me...)

I don't think anybody has used HWIL for quite some time on Paparazzi
(at least not what is currently in the repository).

I think you will definitely have to rewrite a considerable portion of
the code if you are using anything other than IR and GPS. There has
been considerable code refactoring and you may have to start HWIL
support from scratch to do it properly (I am not one to ask about
this). I don't think there is any provision for measuring analog
output of actuators rather than just send the current actuator
commands back via datalink (which in my mind makes rather more sense).

There has been work done in the past to create an SD datalogger for
the LPC21 architecture, but this used a separate processor (like
another TWOG) due to the processor intensive nature of writing to the
SD card with SPI. Hopefully someone who has actually done this can
elaborate further.

Hope that helps a little.

-Stephen

On Tue, Jan 31, 2012 at 3:24 AM, GURUGANESH R <address@hidden> wrote:
> 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.
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