2.3、Frequently ISSUE
2.3.1、When simulating with SIL or HIL, the RflySim3D appears: Fatal error: [file: DJV]. Error
The specific error reporting interface is as follows:
Answer to questions: The above RflySim3D error reporting problem may be due to the compatibility problem caused by the computer's video card driver. It is recommended to upgrade the video card driver to the latest version to see if it can be solved. If it cannot be solved, please contact the relevant after-sales personnel of the RflySim platform.
2.3.2、After refreshing the Analyze Tools- flight log of QGC when downloading, I could not find the log of the corresponding time when I was doing hardware in the loop.
Answer to questions: Open QGC and enter the vehicle settings
Go to the bottom parameter label, search for "log", find the parameter of SDLOG_MODE, change it to the following picture, record log from boot to shutdown, so you can see the log log.
2.3.3 、What Can I Do If the Ubuntu18.04 Installation Fails When I install the RflySim Platform?
Answer to questions:
First wsl change the default version to 1 and then open the ubuntu terminal, such as the name or address of the server can not be resolved, enter this on the line wsl --set-default-version 1, the reason is that win11 enables wsl2 by default, but the kernel is not updated, so ubuntu configuration fails. So configure as the default wsl1.
2.3.4、How to view the data (altitude, speed, historical data) of UAV software simulation flight in the ring?
Answer to questions:
Check the flight log online (software in the ring, hardware in the ring is OK), first run the software/hardware in the ring in QGC open the upper left corner icon, then click Analyze Tools.
Then click Log Download to Refresh the log list, select the log to be downloaded, and click Download
Selecting the download path will generate an ulg format file
Go to https://logs.px4.io/ and click Choose File to find the ulg file and upload it
Then you can view the flight data as shown in the picture below:
2.3.5、How to solve the problem when burning APM firmware to do hardware simulation in the ring?
Answer to questions:
RflySim platform does not support APM hardware in the loop at present, APM hardware in the loop simulation, need to use our FPGA that set of simulation platform, remove the flight control sensor, direct hardware analog sensor chip signal, but this has not been officially released.
2.3.6、Does MATLAB2022a have px4 psp toolbox in MATLAB additional functions after installing RflySim?
Answer to questions:
Starting from the 2021 version, the PX4 PSP module is no longer displayed in the function pack management module, but it does not affect normal use.
2.3.7、How to add the new FlightGear airport view to the drone simulation?
Answer to questions:
FlightGear is out of maintenance. You can download the new version from the website and configure your own connection.
2.3.8、What is the.bat file of each routine written in?
Problem description:
A.bat file as shown in the image below:
Answer to questions:
This file is a batch script of the RflySim platform, which is easy to quickly start related software and programs.
2.3.9、Platform routine, start.bat script to start the communication file which?
Answer to questions:
First,.bat is to start the program, of course, the parameters in bat are also acting on the program. Pay attention to how the communication is established, first distinguish who is communicating with whom, in order to determine what way to use the communication, let developers understand how to use the system, and clarify the call relationship between each module or software, the call relationship between modules is shown as follows:
Platform three blocks, RflySim3D, CopterSim, QGC. RflySim3D: visualization model related, CopterSim: motion control model related, QGC map and planning related and visualization. RflySim3D displays the carrier model, CopterSim controls the carrier movement by loading the control model of the corresponding carrier and binding with the carrier model in RflySim3D, QGC and CopterSim, and performs trajectory planning for the carrier by setting the target point in QGC.
2.3.10、Can the software use docker container to run a single UAV simulation program? If so, how to implement it? If we want to implement a large-scale cluster simulation, how do we use dokcer for software deployment? (Forget the hardware for a moment). When the scale is very large, there is a normal phenomenon of stalling, is there any optimization measures? Is there a routine demo code process to explain?
Answer to questions:
This one uses the Linux version of RflySim, which is not yet available to the public. For large clusters, we are working on a cloud version, which is currently in progress. At present, the software is in the loop, a computer is recommended to support less than 15, too many will be unstable.
2.3.11、the hardware in the ring is related to the firmware in the flight control, how to say this?
Answer to questions:
Hardware in the loop simulation process is to first generate their own or official firmware to the flight control, and then hardware in the loop simulation flight control from CopterSim to obtain sensor information, according to this calculated control information to CopterSim.
2.3.12、Does the RflySim platform support Linux system?
Answer to questions:
Linux versions have always been available, but mostly for internal testing. It's not supposed to be available for free. You need to buy it separately.
2.3.13、the uorb write module added error, is there a default call address, how to set this?
Answer to questions:
Reinstall the platform with the MATLAB of the newly opened Simulink, select "Yes" for the fifth option, and select "Yes" for re-installing the PSP toolbox.
2.3.14、When uploading firmware, an error as shown in the following figure was reported:
Problem description:
Answer to questions:
Go to the device manager and see what COM ports there are, there may be too many devices.
1) Check the computer in the insertion of the flight control when there is no port display, if not, there is a problem with the driver, run the file "[installation directory] \drivers\driver.msi" to reinstall the driver try
2) If the port is displayed, it is estimated that there are too many devices inserted on your computer, and other devices are identified, you can disable the unused device port to try.
3) If the above two methods are not possible, it can only burn the firmware through QGC.
2.3.15、Can RflySim support domestic platform (Kirin system, Feiteng chip, or Tongxin system, Haiguang chip can support) operation? Can win7 run?
Answer to questions:
(Kirin system, Feiteng chip, or Tongxin system, Haiguang chip can support it) have not done these tests, the platform minimum operating system is win10.
2.3.16、How to solve the error problem of installing RflySim platform?
Problem description:
Answer to questions:
The installation package is faulty. You are advised to download the installation package again.
2.3.17、How to solve the phenomenon of blue screen of the computer during installation?
Problem description:
Answer to questions:
May be the computer hard disk space is insufficient, can only replace the hard disk to replace the installation path, and then reinstall.
2.3.18、Is there an example or method description of QGC brushing firmware?
Answer to questions:
You can refer to the following path: [RflySim installation directory] / RflySimAPIs / 2. RflySimUsage / 1. BasicExps/e10_Firmware - Upload/Readme. PDF
2.3.19、When the computer is not connected to the Internet, the map on the QGC interface cannot be displayed after the platform is installed？
Problem description:
Answer to questions:
The map in the QGC ground station needs to be downloaded automatically under the state of networking. The new version of the platform has built the map block into the installation package. If the map cannot be displayed after the installation, you can download the file: RflySim_QGCdefaultMap, Then install the following way to import (choose to replace the existing map in the pop-up interface!)
2.3.20、What is the reason why the QGroundControl background does not appear normally when I verify the success of the toolchain configuration? Flight environment interface The drone can take off normally.
Problem description:
Answer to questions:
You need to access the offline map of the ground station on a networked computer, download the offline map, and then copy it to a computer that is not connected to the Internet. For the secondary development of the offline map function of the QGC ground station, please refer to the link:https://blog.csdn.net/qq_48597462/article/details/138273107?utm_source=miniapp_weixin。
2.3.21、Have you ever tried to change the latitude and longitude of the starting point of the aircraft while simulation?
Answer to questions:
This feature is available only in the latest version of the RflySim toolchain. Limited to full version.
- Modify the last three digits of txt in CopterSim and set the base longitude and latitude of the scene center
- Set the parameters in the bat script. Refer to RflySimAPIs\BatScripts\SITLPosStrGPS.bat, the corresponding routine can be found.
2.3.22、I would like to ask you a question. The simulation frequency of coptersim is 1000hz (the step size in matlab is 0.001), so my control rate is also 1000hz, but when I am in the hardware closed loop, my steering gear is controlled by serial port, which cannot run so fast, and the actual sensor update rate is not so fast. When I increase the simulation step length, I find that coptersim runs very fast. How should I deal with this? If I simply reduce the control frequency, I will find that it will be out of control?
Answer to questions:
The control frequency is 250hz. The in-flight filter is not that fast. The simulation step is 1000hz, but the data transmission frequency is not so fast, the sensor data sent to the flight control is about 250hz, your controller can set its own sampling rate, as long as it is an integer multiple of 0.001 on the line.
2.3.23、What is the reason why the QGroundControl background does not display properly during the verification phase of the toolchain configuration? Flight environment interface The drone can take off normally.
Answer to questions:
Network issues, this map is loaded online, this does not affect the use, only the appearance of the problem. You scroll the mouse to try, or set a different map source. If the Internet is working, you can try it
Disable the network firewall and restart the QGC ground station
If Step 1 doesn't work, you'll need to reboot your computer.
2.3.24、Can you still find the file written in the RflySimAPIs folder before, no backup directly reinstalled, and now the python file can not be found
Answer to questions:
There's a backup folder, and if you run Uninstal, it's gone.