Nice set of instructions Dennis! Easy to follow. We should talk with PX4 maintainers to understand what's keeping the latest master version from working the same way.
Good idea Iain. Let me troubleshoot a little more as the issue may lie with the AirSim config for newer versions of PX4. I’ll touch base when I know more. Thanks.
I am uploading the latestest PX4 firmware (v1.11.3 px4_fmu-v5_default.px4) to a holybro Pixahawk 4. I am selecting the HITL Quadcopter X air frame, to be used in Airsim. However, when the pixhawk reboots the sensors require calibration, more precisely only the compass requires calibration the other sensors appear to be calibrated. I can connect to the Airsim simulator and control the UAV via the QgroundControl station, however, the orientation and compass do not function correctly (actually they are not functional at all.) I have tested everything with QGC v4.1.1 and v4.0.1 and teste firmware v1.11.3 and v1.9.2 as suggested.
nice and clear instruction! anyway, I tried with v1.9.2 and QGC v4.1.1. It always shows "Error: wp index out of bound" and the sensor tab on QGC appears. Could you give a solution of these problems? many thanks
What version of QGroundControl are you using? I'm at 4.1.1. When I load the HIL airframe and reboot, I still get the Sensors tab under Vehicle Setup. I can't set my Flight Modes unless I calibrate my sensors. For HIL mode sensors should be diabled upon reboot.
More info. I downgraded to QGroundControl 4.0.1 and the Sensors tab is not there under HIL. I'm still using PX4 firmware v1.9.2. My guess is somewhere between 4.0.1 and 4.1.1 it broke. Regardless I had strange issues with 4.1.1 on my PC and MAC. There were intermittent connection issues with the actual Pixhawk 2.1 board.
Hi, for a while now I have been trying to import the AirSim drone into the environment. I downloaded a few environments which worked well just without the drone. But if I do build.cmd over the git repo of AirSim and then copy the plugin file into the environment directory, and at the same time do the necessary changes in the .uproject file the environment stops working. The error that comes is as this: The following modules are missing or built with a different engine version: AirSim Would you like to rebuild them now? And then... when I click "Yes" , the AIrSIm could not be compiled. Try rebuilding from source manually. Then after spending time scrutinizing the issue, I found that I did not have the ".sln" file generated for my environment project after adding the plugin. So, I am having trouble as to how I can generate such file? I even downloaded the Windows Sdk 8.1 and .net sdk framework, too, and already had a Visual Studio 2019, but still could not resolve this. Also, even with right clicking the .uproject, I am not able to get the option for "generate visual studio solution".
Thanks a lot. I'm a newbie in ROS and PX4, and lately, I found about AirSim. Do you happen to know how to use ROS with AirSim? how do you export your code to use the real hardware when you are done developing inside airsim? Thanks a lot
You can interact with airsim through its ros wrapper. basically when you run airsim, several topics will be published, and you on your rosnode(ros application) can subscribe to them or if you want also publish on them. this way you can interact with airsim. most of the time, you shouldnt have any issues, provided, you have coded properly. (good abstraction etc) you write your code, you can start with sitl or software in the loop, basically you create your ros application(nodes, services, etc) and test them in the simulator such as gazebo, rviz, etc. then when you implemented enough, you can switch to hitl or hardware in the loop, that is you connect your pixhawk for example to the pc running arisim for example. airsim will recognize your hardware and sends the sensor data to the pixhawk, pixhawk will also do its thing and return back the data and airsim will manifest them in the simulation as if its a real thing. your pixhawk doesnt know its not real (thinks all the readings come from its own sensors,) and you also test your application/nodes with the real hardware in place and see how everything goes. when you test your app and all is fine, you unplug the pixhawk, refine your code, and change the topics your were listening from airsim's to the actual topics from your pixhawk or its ros wrapper. and you are done.
My apologies for that. I had to move it to another space. I’ve updated the link and it’s working now. Let me know if you have any problems: dennisbaldwin.gitbook.io/airsim-notes/px4-hitl-testing
Nice set of instructions Dennis! Easy to follow. We should talk with PX4 maintainers to understand what's keeping the latest master version from working the same way.
Good idea Iain. Let me troubleshoot a little more as the issue may lie with the AirSim config for newer versions of PX4. I’ll touch base when I know more. Thanks.
Seems to be fixed in PR 3603, as @ChrisLovett mentioned 3 months ago.
Hey that looks great Dennis! You should be able to get latest PX4 firmware working with Airsim using this PR 3603.
I am uploading the latestest PX4 firmware (v1.11.3 px4_fmu-v5_default.px4) to a holybro Pixahawk 4. I am selecting the HITL Quadcopter X air frame, to be used in Airsim. However, when the pixhawk reboots the sensors require calibration, more precisely
only the compass requires calibration the other sensors appear to be calibrated. I can connect to the Airsim simulator and control the UAV via the QgroundControl station, however, the orientation and compass do not function correctly (actually they are not functional at all.) I have tested everything with QGC v4.1.1 and v4.0.1 and teste firmware v1.11.3 and v1.9.2 as suggested.
nice and clear instruction! anyway, I tried with v1.9.2 and QGC v4.1.1. It always shows "Error: wp index out of bound" and the sensor tab on QGC appears. Could you give a solution of these problems? many thanks
Write wp clear
thats pretty sweet
Thanks for the good words.
What version of QGroundControl are you using? I'm at 4.1.1. When I load the HIL airframe and reboot, I still get the Sensors tab under Vehicle Setup. I can't set my Flight Modes unless I calibrate my sensors. For HIL mode sensors should be diabled upon reboot.
It sounds more like a firmware issue than QGC but let me know what PX4 firmware you’re running and we can go from there.
@@dennisbaldwin I have the Pixhawk 2.1 carrier board with Black cube. I used px4_fmu-v3_default (v1.9.2).
More info. I downgraded to QGroundControl 4.0.1 and the Sensors tab is not there under HIL. I'm still using PX4 firmware v1.9.2. My guess is somewhere between 4.0.1 and 4.1.1 it broke. Regardless I had strange issues with 4.1.1 on my PC and MAC. There were intermittent connection issues with the actual Pixhawk 2.1 board.
@@AndrewBakerEngineer I saw your email today and just now getting a chance to respond. I have QGC 4.1.1 which sort of contradicts what you’re seeing.
Hey can someone please tell me how to do hardware in loop with functional motors
Hi, for a while now I have been trying to import the AirSim drone into the environment. I downloaded a few environments which worked well just without the drone. But if I do build.cmd over the git repo of AirSim and then copy the plugin file into the environment directory, and at the same time do the necessary changes in the .uproject file the environment stops working. The error that comes is as this:
The following modules are missing or built with a different engine version:
AirSim
Would you like to rebuild them now?
And then... when I click "Yes" ,
the AIrSIm could not be compiled. Try rebuilding from source manually.
Then after spending time scrutinizing the issue, I found that I did not have the ".sln" file generated for my environment project after adding the plugin.
So, I am having trouble as to how I can generate such file?
I even downloaded the Windows Sdk 8.1 and .net sdk framework, too, and already had a Visual Studio 2019, but still could not resolve this.
Also, even with right clicking the .uproject, I am not able to get the option for "generate visual studio solution".
Does this support multiple drones?
Hope to get something on PX4FLOW in coming days
Please keep me posted! I’d love to know more about it. Good luck!
how to disarm TX?
Does it support multi-vehicle simulation in HITL simulation with Gazebo9?
I’m not sure at this point. I’ll have to look into it.
Hi , it that work with pixhawk 2.4.8
Thanks a lot. I'm a newbie in ROS and PX4, and lately, I found about AirSim.
Do you happen to know how to use ROS with AirSim?
how do you export your code to use the real hardware when you are done developing inside airsim?
Thanks a lot
You can interact with airsim through its ros wrapper. basically when you run airsim, several topics will be published, and you on your rosnode(ros application) can subscribe to them or if you want also publish on them. this way you can interact with airsim.
most of the time, you shouldnt have any issues, provided, you have coded properly. (good abstraction etc)
you write your code, you can start with sitl or software in the loop, basically you create your ros application(nodes, services, etc) and test them in the simulator such as gazebo, rviz, etc. then when you implemented enough, you can switch to hitl or hardware in the loop, that is you connect your pixhawk for example to the pc running arisim for example. airsim will recognize your hardware and sends the sensor data to the pixhawk, pixhawk will also do its thing and return back the data and airsim will manifest them in the simulation as if its a real thing. your pixhawk doesnt know its not real (thinks all the readings come from its own sensors,) and you also test your application/nodes with the real hardware in place and see how everything goes.
when you test your app and all is fine, you unplug the pixhawk, refine your code, and change the topics your were listening from airsim's to the actual topics from your pixhawk or its ros wrapper. and you are done.
The gitbook doesnt exist anymore for some reason
My apologies for that. I had to move it to another space. I’ve updated the link and it’s working now. Let me know if you have any problems: dennisbaldwin.gitbook.io/airsim-notes/px4-hitl-testing