PX4 を使用したハードウェアインザループ シミュレーション (HITL)
PX4 を使用したハードウェアインザループ シミュレーション (HITL) の操作方法を学習します。これらのトピックは、HITL のアーキテクチャ、物理接続、HITL の設定を理解するうえで役立ちます。
トピック
- PX4 Hardware-in-the-Loop System Architecture
Details about PX4® HITL architecture and physical connections required to set up HITL.
- QGroundControl からの PX4 Autopilot のハードウェアインザループ (HITL) モード設定
QGC から HITL モードで PX4 Autopilot を設定する。
- ハードウェアインザループ (HITL) シミュレーション用の PX4 Firmware のセットアップ
[ハードウェア セットアップ] 画面を使用して PX4 Firmware を HITL シミュレーション用にセットアップする。
- ハードウェアインザループ (HITL) シミュレーションでの展開用の Simulink モデルの構成
HITL モードでコントローラー モデルを設定する。
- Configure Simulink Model for Monitor & Tune Simulation with Hardware-in-the-Loop (HITL)
Set up controller model for Monitor & Tune in HITL mode.
- MAVLink Connectivity for QGC, On-board Computer and Simulink Plant
Routing MAVLink data from Pixhawk® to QGC and Simulink Plant.
- Fixed-Wing Plant and Controller Architecture
PX4 HITL Fixed-Wing Plant and controller high level summary.
- PX4 Hardware-in-the-Loop (HITL) Simulation with Fixed-Wing Plant and Hardcoded Mission in Simulink
PX4 HITL Fixed-Wing Plant and executing hardcoded mission in Simulink®.
- PX4 Hardware-in-the-Loop (HITL) Simulation with Manual Control for Fixed-Wing Plant in Simulink
PX4 HITL Fixed-Wing Plant with manual control in Simulink.
- Speedgoat and Simulink Real-Time Setup
Hardware and Software setup instructions for Speedgoat® and Simulink Real-Time™.
注目の例
Run PX4 Autopilot in Hardware-in-the-Loop (HITL) Simulation with UAV Dynamics in Simulink
Verify a controller design by deploying on Pixhawk® hardware board in Hardware-in-the-Loop (HITL) mode. Hardware-in-the-Loop (HITL or HIL) is a simulation mode in which normal PX4 firmware is run on real flight controller hardware. This approach lets you test most of the actual flight code on the real autopilot hardware, while the UAV dynamics in Simulink®. To understand the physical connections required to set up the Pixhawk and Simulink for HITL Simulation, go through the PX4 Hardware-in-the-Loop System Architecture.
Scenario Simulation and Flight Visualization with PX4 Hardware-in-the-Loop (HITL) and UAV Dynamics in Simulink
Demonstrates 3D scenario Simulation and Flight visualization with PX4® Hardware-in-the-Loop (HITL) and UAV Dynamics contained in Simulink®. Unreal Engine® simulation environment is used for the 3D scenario Simulation and visualization. For more information, see 無人航空機用の Unreal Engine シミュレーション.
PX4 Autopilot and NVIDIA Jetson in Hardware-in-the-Loop (HITL) Simulation with UAV Dynamics Modeled in Simulink
Use the UAV Toolbox Support Package for PX4® Autopilots to verify an autonomous algorithm deployed on NVIDIA® Jetson™ as Onboard Computer along with Pixhawk® hardware board, in HITL mode with UAV Dynamics contained in Simulink®.
PX4 Hardware-in-the-Loop (HITL) Simulation with Fixed-Wing Plant in Simulink
Use the UAV Toolbox Support Package for PX4® Autopilots to verify the controller design by deploying the design on the PX4 Autopilot hardware board. This is done in HITL mode with fixed-wing UAV Dynamics contained in Simulink®.
Obstacle Avoidance in NVIDIA Jetson with PX4 Autopilot in Hardware-in-the-Loop (HITL) Simulation with UAV Dynamics Modeled in Simulink
Use the UAV Toolbox Support Package for PX4® Autopilots to verify an Obstacle avoidance algorithm deployed on NVIDIA® Jetson™ as Onboard Computer along with Pixhawk® hardware board, in HITL mode and the UAV Dynamics contained in Simulink®.
UVify IFO-S Autopilot and NVIDIA Jetson in Hardware-in-the-Loop (HITL) Simulation in Simulink
Use the UAV Toolbox Support Package for PX4® Autopilots to deploy and verify algorithms on UVify IFO-S Drone, with NVIDIA® Jetson™ as Onboard computer.
PX4 Autopilot in Hardware-in-the-Loop (HITL) Simulation with Speedgoat in Simulink
How you the use the UAV Toolbox Support Package for PX4® Autopilots to deploy a quadcopter plant dynamics model into Speedgoat Real-Time target machine and perform hardware-in-the-loop simulation. Additionally, you can validate your control logic running on PX4 Autopilot against nominal and adverse conditions such as sensor failures.
PX4 Stock Autopilot in HITL Simulation with UAV Dynamics Modeled in Simulink
Use the UAV Toolbox Support Package for PX4® Autopilots to design UAV Dynamics in Simulink® and verify them by using the PX4 Stock Autopilot in HITL mode.
