I think it makes sense (when dealing with live data) for the generic protocol to enter a while loop and read data until there is no more available. The generic protocol is really good for things like exporting to a delimited ASCII file for import into spreadsheet for instance. And it supports not just a single medium, but can be easily made to use files, FIFOs, sockets etc. ![]() The generic protocol can be easily set up for both input and output. The generic communication protocol for FlightGear provides a powerful way of adding a simple ASCII based or binary input/output protocol, just by defining an XML encoded configuration file and placing it in the $FG ROOT/Protocol/ directory. ![]() There is the native_fdm protocol to control FlightGear using an external FDM and there is the generic protocol that uses the XML configuration files. just be careful which COM port your USB device gets assigned to. We don't have generic "USB" support, but if you have a Serial -> USB device that looks like a COM port on the computer side, then that should work without any problem. In addition, there is a "generic" protocol where you can create an XML file specifying exactly what data values you wish to send across your IO channel. Look for a file called README.IO that briefly explains much of this. There is a slightly complex, but pretty flexible mechanism for specifying an IO channel, what type of communication will get sent over it, which direction, and at what rate. This same basic mechanism also would permit your external program to send control commands so if some day you want to do some sort of hardware or software in the loop testing of your UAV controller, that is also a possibility. You could use the FGNetFDM ( -native) protocol or the -generic protocol (which allows you to design custom packets with the specific fields you choose.) Both of these can send the data out as UDP packets which then can be read by your external program using standard socket communication. It will take off and loiter around the takeoff waypoint.FlightGear supports multiple concurrent IO connections. Then select MISSION from the flight mode menu in the toolbar and click on DISARMED to arm the plane. Click on the sync icon to send the waypoint. Switch to the flight planning view and put a single waypoint in front of the plane. It can be found in the Commander parameter group. If a joystick is preferred over a radio remote control, set the parameter COM_RC_IN_MODE to 1. Once the system is connected, battery status, GPS status and aircraft position should all become valid: Widgets -> HIL Config, then select X-Plane 10 in the drop-down and hit connect. In Settings -> Net Connections in the Data tab, set localhost and port 49005 as IP address, as shown in the screenshot below: In X-Plane two key settings have to be made: In Settings -> Data Input and Output, set these checkboxes: Using X-Plane Enable Remote Access in X-Plane Then run QGroundControl and connect via default UDP configuration.The console will display mavlink text messages from the autopilot.Run jMAVSim in HITL mode (replace the serial port if necessary).Make sure QGroundControl is not running (or accessing the device via serial port).If the autopilot is exclusively used for HITL it can also be configured with a HITL-only simulation configuration. Generally any compatible airframe can be put into HITL mode. Flightgear support is present as well, but we generally recommend X-Plane. PX4 supports HITL for multicopters (using jMAVSim) and fixed wing (using X-Plane demo or full version). This approach has the benefit of testing the actual flight code on the real processor. Hardware in the loop simulation is a simulation mode where the autopilot is connected to the simulator and all flight code runs on the autopilot. Installing driver for Intel RealSense R200
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