Example for airframe file

Add to your firmware section: This example contains all possible configuration options, not all of them are mandatory!

<module name="sensors_hitl">
  b'<define name="USE_BATTERY_MONITOR" value="FALSE|TRUE" />\n  '
  b'<configure name="HITL_PORT" value="UARTX|UDPX|usb_serial" />\n    '
  b'<configure name="HITL_BAUD" value="B921600" />\n    '
</module>

Module configuration options

Configure Options

name: HITL_PORT value: UARTX|UDPX|usb_serial
Description: Select port for extra datalink
name: HITL_BAUD value: B921600
Description: Baudrate for extra datalink if link device is UART

Define Options

name: USE_BATTERY_MONITOR value: FALSE|TRUE
Description: If the board is not powered from a real battery, set this flag to TRUE to override the battery voltage reading

Module functions

Init Functions

These initialization functions are called once on startup.

sensors_hitl_init()

Event Functions

These event functions are called in each cycle of the module event loop.

sensors_hitl_event()

Periodic Functions

These functions are called periodically at the specified frequency from the module periodic loop.

sensors_hitl_periodic()
- Running at maximum module frequency.
- Autorun: LOCK
  Periodic function automatically starts after init and can't be stopped.

Datalink Functions

Whenever the specified datalink message is received, the corresponing handler function is called.

on message HITL_IMU call sensors_hitl_parse_HITL_IMU(buf)
on message HITL_GPS call sensors_hitl_parse_HITL_GPS(buf)
on message HITL_AIR_DATA call sensors_hitl_parse_HITL_AIR_DATA(buf)

Files

Header Files

The following headers are automatically included in modules.h

sensors_hitl.h

Source Files

modules/sensors/sensors_hitl.c

Raw sensors_hitl.xml file:

<!DOCTYPE module SYSTEM "module.dtd">
 
<module name="sensors_hitl" dir="sensors" task="sensors">
  <doc>
    <description>
      Simulated sensors for HITL (HardwareInTheLoop).
    </description>
    <configure name="HITL_PORT" value="UARTX|UDPX|usb_serial" description="Select port for extra datalink"/>
    <configure name="HITL_BAUD" value="B921600" description="Baudrate for extra datalink if link device is UART"/>
    <define name="USE_BATTERY_MONITOR" value="FALSE|TRUE" description="If the board is not powered from a real battery, set this flag to TRUE to override the battery voltage reading"/>
  </doc>
  <dep>
    <depends>imu_common,gps</depends>
    <provides>imu,mag,gps,baro,airspeed</provides>
  </dep>
  <header>
    <file name="sensors_hitl.h"/>
  </header>
  <init fun="sensors_hitl_init()"/>
  <periodic fun="sensors_hitl_periodic()"/>
  <event fun="sensors_hitl_event()"/>
  <datalink message="HITL_IMU" fun="sensors_hitl_parse_HITL_IMU(buf)"/>
  <datalink message="HITL_GPS" fun="sensors_hitl_parse_HITL_GPS(buf)"/>
  <datalink message="HITL_AIR_DATA" fun="sensors_hitl_parse_HITL_AIR_DATA(buf)"/>
 
  <makefile target="ap">
    <configure name="HITL_PORT" case="upper|lower"/>
    <configure name="HITL_BAUD" default="B921600"/>
    <define name="HITL_DEVICE" value="$(HITL_PORT_LOWER)"/>
    <define name="USE_$(HITL_PORT_UPPER)"/>
    <define name="$(HITL_PORT_UPPER)_BAUD" value="$(HITL_BAUD)"/>
    <include name="$(PAPARAZZI_HOME)/conf/simulator/nps"/>
    <file name="sensors_hitl.c"/>
    <test firmware="rotorcraft">
      <include name="../../conf/simulator/nps"/>
      <define name="PERIODIC_FREQUENCY" value="500"/>
      <define name="HITL_DEVICE" value="usb_serial"/>
      <define name="USE_USB_SERIAL"/>
    </test>
  </makefile>
</module>