ArduPilot Software-In-The-Loop (SITL) Connector for Simulink

A Simulink S-function for sending and receiving data to and from ArduPilot SITL Simulator

ArduPlane SITL Connector for Simulink

A Simulink S-function for sending and receiving data to and from ArduPilot SITL Simulator

Build

To build the "ardupilot_sitl_connector.cpp" S-function:

• Install a supported C++ compiler e.g. the MinGW-w64 Compiler or the MSVC Compiler.

  https://www.mathworks.com/help/releases/R2022a/matlab/matlab_external/install-mingw-support-package.html

  https://www.mathworks.com/support/requirements/supported-compilers.html

• Unzip the "includes.zip" archive. The archive contains the Asio C++ library.

• Open and run the "make.m" script. Make sure you run the script from within the folder it resides in.

  Note: You may need to link against the ws2_32 library if you use the MinGW-w64 compiler. E.g. -lws2_32.

• If the build is successful you should see an "ardupilot_sitl_connector.mexw64" file in the current folder.

Example use

• Download and install Mission Planner. https://ardupilot.org/planner/docs/mission-planner-installation.html
• Open Mission Planner, select the "Simulation" tab and click on the "Plane" icon. When prompted about the SITL version, select the "Stable" one.
• Once the SITL is downloaded, open a command prompt and navigate to "C:\Users<user>\Documents\Mission Planner\sitl".
• Execute the following command in the command prompt:

   ArduPlane.exe --home -35.363261,149.165230,0,0 --model json

• Open the "ardupilot_sitl_connector_example.slx" model.
• In Mission Planner click the connect icon. Use the default host and port options.
• Run the Simulink model.

Note: The ArduPilot AHRS_EKF_TYPE parameter must be set to 10. The value 10 corresponds to SITL. The above workflow is tested on Windows 10 and in MATLAB R2018b and MATLAB R2022a.

https://www.youtube.com/watch?v=9ParKhhKa4M