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[Paparazzi-devel] Paparazzi HITL

Subject: [Paparazzi-devel] Paparazzi HITL
Date: Thu, 12 Jan 2012 22:46:07 +0530

Dear Paparazzi users,
    We are team of scientist from an aerospace lab in India. We are working in the TWOG paparazzi autopilot board for quite some time. We wanted to connect the paparazzi board with the host simulator and run the Hardware in the loop simulation. From the wiki page of paparazzi, we have learnt that we can connect the AP board through the USB cable and commands computed by the autopilot are sent to the flight model which sends back simulated values of the sensors output (e.g infrared and GPS) back to the AP board. In that case I have certain doubts.

1) Is it possible to send the following  data V, alpha, beta, p, q, r, phi, psi and theta from the flight model to the autopilot board along with the infrared sensor and GPS data.
2) If so how to do it, where in the source code we need to make changes.
3) Instead of simulated actuators can we have physical actuators in the HITL. Any provision is made in the paparazzi HITL code to acquire the analog voltage corresponding to the  actuator output.
4) Is it possible to connect an SD card to log the data from the autopilot board through the SPI bus which is available in the board. if so how many data we can log and how do we decide the rate of logging.

These are all my doubts.It would be great help if anyone help in troubleshooting this problem. Please write to me if you have answers to any one of my doubts.

Thanks and Regards
R Guruganesh

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