Simulation in Hardware (SIH)
Last updated
Last updated
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 the section on hardware bench testing for more information.
Simulation in Hardware (SIH) was introduced in AuterionOS version 2.3
Power up Skynode, open Auterion Mission Control (AMC) on your ground station and connect to the vehicle.
Enable the Advanced Mode in AMC
Access the parameter page in AMC by going to Menu > Vehicle Setup > Parameters.
Set the following parameters. You can search for these parameters by entering "SYS_A" into the search field at the top.
SYS_AUTOCONFIG to "Reset to vehicle's configuration defaults"
SYS_AUTOSTART to "1230200".
Next, reboot the flight controller by clicking Tools > Reboot Vehicle. If you used the parameter search function, you have to Clear the filter first.\
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.
For more details on the simulation model, parameters and implementation please check the documentation in the PX4 User Guide.
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.
