setup for HITL simulation

load parameter to Pixhawk 4

1. use QGround Control, connect PC to Pixkawk 4 via USB
2. select Vehicle Setup tab > Parameters > Tools > Load from file...
3. navigate to and select px4-hitl-simulation.params
4. select Tools > Reboot vehicle > OK
5. repeat steps 2 to 4 once again
6. disconnect USB and close QGC

modify model iris.sdf

1. open iris.sdf (at Firmware/Tools/sitl_gazebo/models/iris/)
2. scroll down to <plugin name='mavlink_interface' filename='libgazebo_mavlink_interface.so'> section
3. change

<serialEnabled>0</serialEnabled>
<hil_mode>0</hil_mode>

to

<serialEnabled>1</serialEnabled>
<hil_mode>1</hil_mode>

4. save and close iris.sdf
5. (optional) open iris.world (at Firmware/Tools/sitl_gazebo/worlds)

5.1. comment this block to remove asphalt background by change

<include>
    <uri>model://asphalt_plane</uri>
</include>

to

<!--<include>
    <uri>model://asphalt_plane</uri>
</include>-->

5.2. save and close iris.world

simulation

1. in PC

• connect to Pixhawk via USB
• run command

  gazebo [path/to/Firmware]/Tools/sitl_gazebo/world/iris.world
  

2. in onboard computer (jetson)

• terminal 1

  # connect jetson to pixhawk
  cd ros/bash/script/bash
  sh connect_px4.sh

• termial 2 run code
• ...

3. use RC to ARM, switch FLIGHT MODE and CONTROL drone in simulation

setup for PRACTICE flight

load parameter to Pixhawk 4

1. use QGround Control, connect PC to Pixkawk 4 via USB
2. select Vehicle Setup tab > Parameters > Tools > Load from file...
3. navigate to and select px4-practice.params
4. select Tools > Reboot vehicle > OK
5. repeat steps 2 to 4 once again
6. disconnect USB and close QGC
7. follow flight test guide