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

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@Jaeyoung-Lim Jaeyoung-Lim commented Oct 22, 2020

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

@Jaeyoung-Lim Jaeyoung-Lim changed the title Add device /baudrate for configuration options Enable Hardware-In-The-Loop simulation for JSBSim Oct 22, 2020
@Jaeyoung-Lim Jaeyoung-Lim force-pushed the pr-hil-support branch 2 times, most recently from 97bb7de to 411ee67 Compare October 24, 2020 16:30
@Jaeyoung-Lim Jaeyoung-Lim marked this pull request as ready for review October 27, 2020 21:31
This was referenced Oct 27, 2020
@@ -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; }
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Suggested change
std::string getDevice() { return _device; }
const std::string& getDevice() const { return _device; }

src/configuration_parser.cpp Outdated Show resolved Hide resolved
@@ -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) {
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Suggested change
bool JSBSimBridge::SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, ConfigurationParser &cfg) {
bool JSBSimBridge::SetMavlinkInterfaceConfigs(std::unique_ptr<MavlinkInterface> &interface, const ConfigurationParser &cfg) {

@@ -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();
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Suggested change
TiXmlHandle config = *cfg.XmlHandle();
const TiXmlHandle& config = *cfg.XmlHandle();

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

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

@Jaeyoung-Lim Jaeyoung-Lim force-pushed the pr-hil-support branch 3 times, most recently from d12eef0 to 774fa81 Compare November 2, 2020 16:51
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
@fahadmaqbool16
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@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
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@fahadmaqbool16 The pull request already explains how to test this PR, what additional information do you need?

@fahadmaqbool16
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@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
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@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
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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
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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.

image

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.

image

running dmesg in the MAVLINK console shows the follwing output.

image

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

@Jaeyoung-Lim
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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

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

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

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

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ENABLING HIL MODE IN JSBSIM BRIDGE
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