plane can't runaway take off in HITL mode

[huyandenghuangbo]

I used the pr-hitl-support branch code, I show the detail:
the command as follows:

then the px4 connect the qgc via udp, I inserted those code to read the accel and gyro in the file of sensor_imu_plugin.cpp in realtime. Like this:

I load a fly plan into px4 and run the mission mode, but it can't runaway takeoff. And the accel and gyro data flow Like this:

I don't konw where the problem is.

[Jaeyoung-Lim]

@huyandenghuangbo HIL support was added in #28 could you try this PR?

[huyandenghuangbo]

@Jaeyoung-Lim Sorry, I'll try it right away

[huyandenghuangbo]

@Jaeyoung-Lim I tried, but it can't work, the code above used comes from the pr-hil-support branch, I checked the code with #28, they are same ,but it has the same result after running. PS: I changed the code that can receive the right gps data(interface->SetHILStateLevel(true)---->interface->SetHILStateLevel(false);), as follows:

[Jaeyoung-Lim]

@huyandenghuangbo Did changing the code have any effect on the results?

[huyandenghuangbo]

@Jaeyoung-Lim it can't takeoff as usual

[huyandenghuangbo]

@Jaeyoung-Lim I read the log file, it shows the px4's ouput actuator data has no problem

[ParamDeshpande]

hey, even I'm facing similar issues here, did you guys have any luck figuring this out ? Does it have something to do with the mixer and control files ? I'm guessing the outputs of PX4 are mismatched with the outputs of the simulator so maybe the throttle doesn't really go to the motor but some other servo, so the plane does not move ?

I was looking through this file PX4-Autopilot/ROMFS/px4fmu_common/init.d/airframes/1000_rc_fw_easystar.hil for HIL configuration.

In SITL the setup works well, QGC shows some custom airframe when launching SITL, so maybe a similar config in HILStar plane might start the plane and map proper control surfaces , any Ideas ?

[tayyabkhalil-313]

@ParamDeshpande Did you manage to solve this issue? I am trying to run jsbsim hitl with rascal and facing similar issue. The vehicle is unable to takeoff and instead just crashes right away. The connection from the jsbsim bridge is then closed with following error:

[ParamDeshpande]

@tayyabkhalil-313 No I haven't solved the issue yet, but did you arm the plane before takeoff ?

[tayyabkhalil-313]

@ParamDeshpande Yes i am able to arm the vehicle.

[ParamDeshpande]

@tayyabkhalil-313 check if the plane isn't getting spawned mid-air ? Try changing locations in the scene/LSZH.xml file.

<?xml version="1.0"?>
<initialize name="VTBS">
  <latitude type="geodetic" unit="DEG"> 13.656699 </latitude>
  <longitude unit="DEG"> 100.751837 </longitude>
  <altitude unit="M"> 0.5 </altitude>
  <elevation unit="M"> 2.5 </elevation>
  <vt unit="FT/SEC">      0 </vt>
  <gamma unit="DEG">      0.0 </gamma>
  <phi unit="DEG">        0.0 </phi>
  <theta unit="DEG">      0.0 </theta>
  <psi unit="DEG">        10.0 </psi>
</initialize>

The plane seems to be stable for me on VTBS airport.

However the throttle values are still 100% and the plane doesn't seem to move.

I tried debugging the JSBSim bridge code, by printing actuator values, in the file src/actuator_plugin.cpp in function SetActuatorCommands()

      std::cout << "  actuator index: " << index << " scale: " << scale << "  property: " << property << "  value: " << scale * actuator_commands[index] << "\n";

For SITL things are working fine the throttle values from PX4 are passed to rascal and JSBSim, ie PX4 does send nonzero throttle values to the simulator and the plane takeoffs.

However for HITL setup the PX4 hardware (CubeOrange) sends zero actuator values when I arm the vehicle. And a -1.2xScale value when it is ready to fly.

This likely means some changes for the configuration files need to be done on the PX4 firmware side for the HILStar plane ?

@Jaeyoung-Lim Do you have any ideas how to do it ? Did you manage to takeoff with the PR ?

[tayyabkhalil-313]

@ParamDeshpande For me, the vehicle does move but still crashes after changing the location.

In HITL, the throttle and rudder actuators do send non zero values but aileron and elevator do not. Throttle increases from 0 to 1 after which it crashes.

[ParamDeshpande]

@tayyabkhalil-313 Can you tell which pixhawk model are you using and the firmware version. Also if you're trying to takeoff via radio or joystick ?

[tayyabkhalil-313]

@ParamDeshpande

• I have tried on both pixhawk 4 and pixhawk 5x.
• Firmware version is 1.12.3.
• Trying to takeoff from mavlink console using 'commander takeoff'.

[tayyabkhalil-313]

@ParamDeshpande Are you able to run JSBSim SITL for Rascal successfully? The model crashes for me in SITL as well during takeoff.