SITL Simulator (Software in the Loop)

[albcem]

SITL Simulator (Software in the Loop) - Describe the issue/suggestion and improve the title. Please keep a link to the original article if relevant.

The figure for the communication architecture for SITL is outdated; the Port numbers and the pairs of software that communicate are wrong. I found the following figure online that correctly represents the current state of the communications. The owner of the figure proposed it to update the affected page but no change has been made.

[brunoolivieri]

Link to PR #1764

[Hwurzburg]

@peterbarker pls review and approve and I will add to wiki...thanks

[TunaLobster]

Would a more general figure be more appropriate for the main page? This figure would be great for the FlightGear/JSBSim specific page. Most of these port number don't mean much for other FDMs. I made this one as a very general overview of how each of the main SITL pieces work together.

[Hwurzburg]

I think so....but a few questions....the Ardupilot block really is ArduPilot STIL, right?....and when we sim, the USB Joystick/keyboard control inputs only go to the GCS, right? not alternatively into the Flight Dynamics model....at least thats the way SITL+RF, SITL via MP or MAVProxy (where AP provides the SITL and the physics) work,right?

...if the diagram he provides is correct for JBSIM with Flightgear and MAVProxy GCS, then we can add it to the JBSIM page, like the ones I did for RF flightaxis ...https://ardupilot.org/dev/docs/flightaxis.html

[TunaLobster]

For the X-Plane 10 at least the controller can be hooked up to the FDM. With the JSON interface, someone could connect a Wii Fit board to ArduCopter through Python or MATLAB without having to add anything to Mission Planner or MAVProxy.

[Hwurzburg]

perhaps this as a general flow diagram?

[peterbarker]

This is pretty.

• Port 5501 is 16 channels....
• "Open connections mavlink" -> "Open" has a specific meaning for some protocols. "Listening" would be more appropriate.
• "APM Planner" is rather outdated.
• "JSBSim" is Plane-specific

[Hwurzburg]

Peter, does this address your comments? (I will add plane specific on the page itself)...if so I will add to wiki JBSim page

[Hwurzburg]

btw,what exactly is different between the 5503 and 5504 ports?

[khancyr]

Sim_vehicle.py is not SITL !!! Please remove it ! It is just a convenient python script to launch SITL.
People always mix this . You don't need it to launch SITL and SITL isn't in python

[Hwurzburg]

np...but to an outside user, it appears that sim_vehicle.py starts SITL...only MP,silentWings, and x-plane use the bin to start..but I have changed it

[peterbarker]

@Hwurzburg it does address my comments.

[Hwurzburg]

closed by #2983