ArduPilot software-in-the-loop (SIL) connector for Simulink

Simulink C++ S-function for software-in-the-loop (SIL) simulation with ArduPilot.

ArduPilot SIL Connector for Simulink

Simulink C++ S-function for software-in-the-loop simulation with ArduPilot.

Requirements

• MATLAB & Simulink (MATLAB R2022a or earlier)
• MinGW-w64 or MSVC C/C++ Compiler
• MissionPlanner

Files

ardupilot_sil_connector.cpp

make.m

includes.zip (contains the Asio C++ library)

Build instructions

• Install MATLAB-supported compiler
  https://mathworks.com/support/requirements/supported-compilers.html.
• Download the "ardupilot_sil_connector.cpp" and "make.m" files and the "includes.zip" archive.
• Unzip the "includes.zip archive".
• Run "make.m" to create a "ardupilot_sil_connector.mexw64" (Windows), "ardupilot_sil_connector.mexa64" (Linux), "ardupilot_sil_connector.mexmaci64" (macOS) file.

Use instructions

• Download and install MissionPlanner https://ardupilot.org/planner/docs/mission-planner-installation.html.
• Open MissionPlanner, select the "Simulation" tab and click on the "Plane" icon to download the ArduPlane SIL simulator.
• After downloading the ArduPlance SIL simulator, open a command prompt and navigate to "C:\Users\Documents\Mission Planner\sitl".
• Execute the following command in the command prompt:

ArduPlane.exe --home 42.841448,24.770727,0.5,0 --model json

• Click the connect icon in Mission Planner. Use the default host and port options.
• Open and run "ardupilot_sitl_connector_example.slx".

Example use of the ArduPilot SIL connector

ArduPilot SIL connector example

Additional information available at

https://fst.aviumtechnologies.com/ardupilot-sil-connector