3.1 HITL PX4 - terrytaylorbonn/auxdrone GitHub Wiki

Part 3 is HITL (hardware in the loop) simulation (part 1 was total sim (connections were TDP, UDP, USB, etc) and part 2 was AI algorithms).

Gdrive

This Part 3 section 3-1 for PX4 firmware (I am using Pixhawk 6c). The focus is on

jMAVsim flight testing (emulation of the missing copter HW)
while (from #1-4) increasing the amount of real HW (without actual building the copter (that's part 4)

This page summarizes main test stages (latest first) (this is my own conceptual approach... I could very well be mistaken in my assumptions):

#4 Final HITL test using the max possible of
- Real HW
- Flight ready wiring
#3 Flight ready wiring. Finding how to flight-ready conect HW components (also explore Win11, Ubuntu test connections). I am new to this, so its messy learning experience :) .
#2 Jetson Nano Object recognition sends land command to Pixhawk 6c FC. To #1 add Nano + camera. Nano object_recognizes a person (me), then (via UDP) using Pymavlink sends Mavlink command to force land the copter.
#1 HITL on PX4 (firmware) / Pixhawk 6C (hardware) using jMavSim + QGC. Ubuntu runs copter frame + world sim with real 6c (FC). Ubuntu connected to 6c via USB. Shown in the following diagram.

#4 Final sim test (only a 1 page draft doc for now)

The #4 goal is sim flight testing using HW2 (the battery + power distribution (PD) module (part of the copter frame kit)). At this point (24.0320), much of this is a guess. But I think something like following diagram. See doc 3.1-4_hitl1_px4_nano-6c_final_testing_v01_24.0320.docx.

#3 Flight ready wiring for HW1 (24.0318)

Determine actual flight wiring that works. And test. This is turning out to be more difficult than I thought. All I have gotten working so far between the Nano and 6c is [ Nano dev kit USB <> 6c USB TTL port (on front of device) ]. See section "7.4b nano usb <> 6c usb ttl W/ Generic USB (WORKS!!) 24.0318" in doc 3.1-3_hitl1_px4_nano-6c_connection_v15_24.0320.docx.