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Simulation in Hardware (SIH)

Simulation in Hardware (SIH) allows you to simulate a multicopter vehicle on Skynode to experiment with or test your application, payload integration and workflow with Skynode using real hardware and peripherals.
This section is geared towards software and app developers
For hardware integrators there is a previous section that goes into detail on how to setup Skynode bench-testing. This is useful when integrating Skynode with other hardware. Please refer to Hardware Bench Test for more information.

Configuration

Simulation in Hardware (SIH) was introduced in AuterionOS version 2.3
AMC parameter page
  1. 1.
    Power up Skynode, open Auterion Mission Control (AMC) on your ground station and connect to the vehicle. If you have not paired and connected the vehicle yet, check our pairing guide.
  2. 2.
    Enable the advanced mode in AMC
  3. 3.
    Access the parameter page in AMC. Go to Menu > Vehicle Setup > Parameters.
  4. 4.
    Set the following parameters. You can search for these parameters by entering "SYS_A" into the search field at the top.
    1. 1.
      SYS_AUTOCONFIG to "Reset to vehicle's configuration defaults"
    2. 2.
      SYS_AUTOSTART to "1230200".
  5. 5.
    Next, reboot the flight controller by clicking Tools > Reboot Vehicle. If you used the parameter search function, you have to Clear the filter first.
  6. 6.
    After rebooting Skynode you are connected to the simulated vehicle located at Baylands Park and AMC will warn you that Hardware in the loop (HITL) is enabled. The setup is complete and you can go ahead with your first flight in simulation.

Sensor Calibration in Simulation in Hardware

It is not necessary to calibrate the sensors in SIH. You can take off anyway.
AMC might indicate a warning and show that the vehicle is not ready to fly or requires calibration. In SIH mode certain pre-flight checks are disabled and you can takeoff and fly despite the warning.
The pre-flight checks are triggered because the SIH vehicle does not override the existing sensor calibrations.

Further Information about PX4 Simulation

For more details on the simulation model, parameters and implementation please check the documentation in the PX4 User Guide.