This plug-in for X-Plane enables 'Hardware-in-the-Loop' testing with an autopilot running ArduPilot with a custom firmware.
- Send plane state as telemetry from sensors.
- Calibrate a plane sensors just as it's done with a real plane model.
- Use any feature from Mission Planner as if it was working with a real plane model.
- Simulate sensor accuracy errors and interruptions.
It has been tested on X-Plane 9 and X-Plane 11, both 32 and 64 bit versions are provided as binaries.
Grab the latest release and install it in the resources/plugins folder of X-Plane.
Follow the instructions here to flash an autopilot with the custom firmware required for the plug-in to work.
| Parameter | Value | Description |
|---|---|---|
| FS_THR_ENABLE | 0 | Disable the radio safety switch |
| BRD_SAFETY_DEFLT | 0 | Disable the vehicle safety switch |
| SCR_ENABLE | 1 | Enable LUA scripts for the following motor interlock issue |
| AUTO_OPTIONS | 3 | Allow auto mode to arm and takeoff without a radio connected |
Helicopters require an extra safety switch to start and stop the engine called the motor interlock. There is no parameter to disable this check so it needs to be disabled through a Lua script.
gcs:send_text(0, "Motor interlock bypass script started")
function update()
if arming:is_armed() then
rc:run_aux_function(32, 2)
else
rc:run_aux_function(32, 0)
end
return update, 1000
end
return update()| Parameter | Value | Description |
|---|---|---|
| SCHED_LOOP_RATE | 100 | Set 100hz sensor data, X-Plane needs to run atleast at this framerate rate |
| EAHRS_TYPE | 3 | Use the custom ExternalAHRS library |
| SERIALX_PROTOCOL | 36 | Set serial port as the External AHRS device that X-Plane connects to, SERIAL7 on the PixHawk4 |
| SERIALX_BAUD | 115200 | ExternalAHRS required baud speed |
| AHRS_EKF_TYPE | 11 ExternalAHRS | Use X-Plane variables as state estimation |
| INS_ENABLE_MASK | 1 | Disable other inertial systems |
| GPS_TYPE | 21 ExternalAHRS | Set the main GPS as the external one |
| COMPASS_TYPEMASK | * All marked except for ExternalAHRS | Disable the internal compass |
| EFI_TYPE | 7 Scripting | Enable the stub EFI implementation so that the EAHRS driver can update engine variables |
| RPM1_TYPE | 3 | Read RPMs from the EFI, requires to use the Search function on Parameters list to find it |
| BATT_MONITOR | 27 EFI | Enable fuel level indicator |
| BATT_LOW_VOLT | 0 | Disable low battery voltage warning |
| Parameter | Value | Description |
|---|---|---|
| H_COL_ANG_MAX | 13.5 | Max swashplate deflection angle |
| H_COL_ANG_MIN | 0 | Min swashplate deflection angle |
| H_COL_MAX | 1900 | Max swashplate deflection servo PWM |
| H_COL_MIN | 1100 | Min swashplate deflection servo PWM |
| H_RSC_MODE | 4 | Set ardupilot's throttle governor, requires RPM enabled |
| H_RSC_THRCRV_0 | 42 | Collective - throttle curve for 1000 RPM |
| H_RSC_THRCRV_25 | 54 | Collective - throttle curve for 1000 RPM |
| H_RSC_THRCRV_50 | 74 | Collective - throttle curve for 1000 RPM |
| H_RSC_THRCRV_75 | 95 | Collective - throttle curve for 1000 RPM |
| H_RSC_THRCRV_100 | 100 | Collective - throttle curve for 1000 RPM |
| H_RSC_GOV_RPM | 1000 | RPM objective |
| H_RSC_GOV_RANGE | 200 | RPM threshold |
| H_SW_TYPE | 1 | Set H1 non CCPM swashplate mode |
| H_COL2YAW | -0.5 | Tail blade pitch compensation of main rotor torque |
| ATC_HOVR_ROL_TRM | -350 | Roll compensation on hover |
| AHRS_TRIM_Y | 0.085 | Pitch offset |
| ATC_ANG_(PIT,RLL,YAW)_P | 10 | Proportional PID gains |
| SERVO4_REVERSED | 1 | Reverse yaw controls for the cobra rc |
| BATT_CAPACITY | 1676 | Full fuel tank in cm3 |
| BATT_CRT_MAH | 200 | Set 200 cm3 remaining fuel warning |
The plug-in has been written in Visual Studio Code and compiled with the latest MSVC compiler, the tasks.json file contains the compiler parameters necessary and all dependencies are already included in the repository.
