![]() ![]() Copy the MavLink.xml file to /usr/share/games/flightgear/Protocol (you'll need root access).Install Flight Gear from the normal Ubuntu repository.Included in the Tools/FlightGear directory (from ) there is an XML file called MAVLink.xml. Anything from the property tree can be exported or imported over a network link which is defined by an XML file. There are still a few warnings produced by the compile process, but it should produce an executable called FGShim.įlightGear is really extensible and every internal variable can be accessed through its property tree. To compile it run the following commands: You can get an updated version from my Github at. However I couldn't get the version of FGShim included with Ardupilot (in December 2013) to compile and the MAVLink formats it was sending differed from those the rest of the Ardupilot code was expecting.įGShim depends upon other components of the Ardupilot so you need the entire source tree to build it. This program is supposed to sit between the Ardupilot and Flightgear, reading control surface commands from the Ardupilot via serial/USB and then relaying them to Flightgear via UDP and taking back Flightgear's position, velocity and orientation outputs and sending them back to the Ardupilot to form sensor data. I found that there is a program called FGShim in the Tools/FlightGear directory inside the Ardupilot source. These instructions are based upon using Ubuntu 12.04 with GCC 4.6, but they should work on any modern Linux distribution and with a little modification on OSX and Windows. I also notice that both the APM Mission Planner on Windows and QGroundControl have GUIs that are supposed to launch a simulator and do all of this for you, but I couldn't get either of them to work properly. I'm running this on Ubuntu Linux 12.04, but most of it should work on Windows or Mac but i've not tested it. Luckily I managed to get it working and thought I'd share how I did it. Recently I wanted to test some code that was intended for a real UAV so this wasn't an option, I spent a lot of time looking for up to date instructions but couldn't find any. This will allow it to get the latest parameter and other metadata for the vehicle, along with translations.A hardware in the loop simulation uses the real ArduPilot, your radio control unit, the servos and motors in an aircraft but the autopilot outputs are passed to a flight simulator which returns simulated sensor data.Ī few years ago I used a highly modified version of the Ardupilot to control a Flight Gear simulation, but had modified the code almost beyond recognition and was running it natively on my PC instead of on an Arduino. Make sure QGC has an internet connection when you connect a new vehicle. While the UI is fairly intuitive, this documentation can also be referenced to find out more. Click the Status icons on the toolbar to find out the status of the connected vehicle.Description of Analyze view is missing.Fly: Monitor your vehicle(s) while flying, including streaming video.Setup: Configure and tune your vehicle.Settings: Configure the QGroundControl application.Use the toolbar to switch between the main views:.That's it! If the vehicle is ready to fly, QGroundControl should display Fly View as shown below (otherwise it will open Setup View).Ī good way to become familiar with QGroundControl is to start experimenting: QGroundControl should detect your vehicle and connect to it automatically. Attach your vehicle to the ground station device via USB, through a telemetry radio, or over WiFi. ![]() Getting QGroundControl up and running is quick and easy:
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