Here is a small and unfortunately not the best video demonstrating it. Dmitry can't make another one since his CC is sold now. But the real appearance is much better than on this old video.
So what's new and what's different comparing to other similar HiTL and SiTL implementations? Here are some of features:
- AeroSimRC simulator is the first supported by the OpenPilot model simulator. All others are real plane simulators.
- As result, simulation is more useful for development, PIDs are more realistic, and all fixed wings, helicopters and multirotor airframes are completely supported.
- Comparing to other similar solutions, the key point is that all stabilization is performed by the CopterControl board using HiTL. It can get from the simulator only raw data from gyros, accels and GPS, and performs the stabilization (including multirotor rate mode) and navigation (fixed wing only using experimental firmware). Thus you can play with PID tuning and see how model reacts.
- The simulator can provide also stick inputs to the CopterControl using GCS Receiver (not used yet for OpenPilot but used by this plugin). So you can mix any inputs controlling the CC board: take some from AeroSimRC mouse/joystick/keyboard and some from other CC interfaces, using them concurrently (thanks to multi-receiver CC feature).
- Another important and exclusive feature is that HiTL simulates not stick inputs to the simulator, but real motors and servos. Say, it outputs 4 CC channels to a quad simulated ESCs. Thus real CC mixers are used, not simulator internal. As far as I know, even Octo models can be supported this way.
- Moreover, it also supports FPV camera stabilization and control. You can stabilize and control FPV camera exactly in the same way as you would with the real camera gimbal. Again, the CC generates outputs for simulated camera servos. Now only 2-axis control is supported by the AeroSimRC, the 3rd axis control is coming.
- To be done also is the OpenPilot OSD which will use the OP OSD code as soon as it will be ready for sharing. We expect to have the same code for OP OSD, for PFD and for the AeroSimRC plugin. So you can use AeroSimRC for FPV training using its FPV camera view feature with your real Tx connected to the CopterControl board and your favorite kind of model simulated.
The second is the HiTL gadget running as a part of the GCS. It is implemented as separate HiTL plugin since few changes in it required to be ported for other supported simulators. This could be done but isn't yet.
We successfully used all this to simulate another work in progress: CopterControl fixed wing navigation based on the CorvusCorax code and developed further by Astron (not ready for release yet, but probably some videos will be shown by the developer).
So what's about the code:
- GCS part: hhrhhr/AeroSimRC_plugin git branch in the main OpenPilot git repository
- AeroSimRC plugin proxy: separate Qt DLL @github: https://github.com/h...r-CopterControl
- AeroSimRC simulator: http://www.aerosimrc.com. Unfortunately, currently released version will not work with the code above yet. See below.
- Dmitry (hhrhhr) as the author of the plugin and new HiTL gadget.
- Manuel, the author of the AeroSimRC for his great support of this work. He has donated some AeroSimRC licenses to involved parties. But most important was that he has added few requested features to the simulator interface by our requests. Also the 3rd axis for FPV camera stabilization will be added. So we will be able to use full potential of the 3-axis CameraStab CC module.
- Steve (3rdeyepro) for great CC images with active buttons (NOT SHOWN in the video above, added to the code later).
- David (dankers) for supporting it and having hard pressure from some people who tried to prove him that it is a closed secret Russian work led by some core team members which never will be published. I have to say that that pressure didn't help us working on the subject. The real reason was that I don't like to show not finished work. That's why the development was done in a shadow and not in the public repository.
More usage info and simulation setup videos to follow... Now only few images:
Great CC image with active buttons (not yet on the video, but in the current code):
cc-aerosim-on-hover.png 60.19KB 24 downloads
Part of internal fixed wing navigation testing using firmware by Astron (not ready yet) and AeroSimRC HiTL:
circle.png 26.25KB 25 downloads