diff --git a/README.md b/README.md index 4c0ccd6..97775ce 100644 --- a/README.md +++ b/README.md @@ -6,21 +6,24 @@ UAV HITL Simulator brings up a set of ROS packages, config files and instruction drawing -The key feature of this simulation is to run it in such a way that the hardware knows nothing about the simulation. This can be done with Cyphal/DroneCAN. It covers more PX4 modules than standard SITL and HITL. +The key feature is to run the simulation on a real hardware and use the actual Cyphal/DroneCAN drivers, so the autopilot knows nothing about the simulation. It covers more PX4 modules than SITL and MAVLink HITL. **Purpose** -- Simulation of UAV onboard systems at a low hardware level -- Testing and debugging of UAV control systems using a CAN-bus -- Development and testing of intelligent automatic control systems for UAVs +- Testing autopilot peripheral drivers (DroneCAN or Cyphal) +- Testing real hardware components (actuators, payload, power and electrical systems) in pair with control system +- Communication Bus and Wiring Testing +- Fault Injection and Safety Measures +- Environmental and Durability Testing: Vibration Emulation, Long-Duration Endurance Runs - Training in the development and use of drones, including creating datasets and automated testing -**Minimal requirements (for HITL only):** +**Recommended requirements for HITL:** -- Operating System: Linux based OS such as Ubuntu 22.04 -- Raspberry PI 4 is enough +- Operating System: Pure Ubuntu 20.04, 22.04 or 24.04 installation is highly recommended; WSL and VM are not recommended +- Docker: use regular Docker Engine, not Docker Desktop (because Docker Desktop relies on VM) +- Performance: for HITL part even Raspberry PI 4 is enough -**Recommended requirements (for HITL + 3D simulator):** +**Recommended requirements for 3D simulator:** - Operating System: We've tailored the simulator for modern versions of Windows, Linux, and Mac. Choose the build that matches your OS. - CPU: Aim for an Intel i7 from the 11th or 12th generation. For those using AMD, any equivalent processor will suffice. @@ -29,7 +32,7 @@ The key feature of this simulation is to run it in such a way that the hardware **Required hardware:** - Flight controller: fmu-v5, fmu-v6c or fmu-v6x -- CAN-sniffer +- CAN-sniffer: Zubax Babel is recommended, but other CAN-adapters can be suitable as well ## 1. USE CASES @@ -308,12 +311,13 @@ Outdated manual instructions: | Version | ReleaseDate | Major changes | | ------- | ----------- | ------------- | -| v0.9.0 | Dec .., 2024 | Add px4_fmu-v6c, px4_fmu-v6x, cuav_x7pro, cuav_nora support beside fmu-v5 | -| v0.8.0 | Jun 10, 2024 | Update PX4 from v1.14 to v1.15 | -| v0.7.0 | Oct 31, 2023 | Update PX4 from v1.13 to v1.14 | -| v0.6.0 | Jul 16, 2023 | Add Octorotor dynamics, fault scenarios and Cyphal ESC feedback | -| v0.5.0 | May 17, 2023 | Add Cyphal PX4 v1.13.0 quadcopter, update DroneCAN PX4 from v1.12.1 to v1.13.0 | -| v0.4.0 | May 16, 2022 | Add Cyphal/DroneCAN custom version of Ardupilot | -| v0.3.0 | Aug 25, 2021 | Add Docker | -| v0.2.0 | Aug 17, 2021 | Update to public DroneCAN PX4 v1.12.1 | -| v0.1.0 | Mar 18, 2021 | First public release for private custom version of DroneCAN PX4 v1.11.2, only CUAV V5+, SITL and HITL modes | +| v0.10.0 | In progress... | Add ArduPilot support | +| v0.9.0 | Dec 08, 2024 | Add px4_fmu-v6c, px4_fmu-v6x, cuav_x7pro, cuav_nora support beside fmu-v5 | +| v0.8.0 | Jun 10, 2024 | Update PX4 from v1.14 to v1.15 | +| v0.7.0 | Oct 31, 2023 | Update PX4 from v1.13 to v1.14 | +| v0.6.0 | Jul 16, 2023 | Add Octorotor dynamics, fault scenarios and Cyphal ESC feedback | +| v0.5.0 | May 17, 2023 | Add Cyphal PX4 v1.13.0 quadcopter, update DroneCAN PX4 from v1.12.1 to v1.13.0 | +| v0.4.0 | May 16, 2022 | Add Cyphal/DroneCAN custom version of Ardupilot | +| v0.3.0 | Aug 25, 2021 | Add Docker | +| v0.2.0 | Aug 17, 2021 | Update to public DroneCAN PX4 v1.12.1 | +| v0.1.0 | Mar 18, 2021 | First public release for private custom version of DroneCAN PX4 v1.11.2, only CUAV V5+, SITL and HITL modes |