Trillium HD25 - Hardware in the Loop (HIL) Simulation

Trillium User Guide Trillium Engineering Page 35
2.13.1.1 SkyLink
• --beta
o SkyLink will look for updates (for both itself and firmware) on our beta testing
channel on the web.
• --hilsim
o SkyLink will pass gps and sensor data (serial connection only) to the gimbal from a
replay file (.ts or .tel).
• --nokill
o Allows multiple instances of SkyLink to run at once.
• --gimbalComms=[IP Address | Serial Port]
o Sets where to look for the gimbal. Serial ports will be named like "COM6".
• --noVideo
o SkyLink will not ask the gimbal for video.
• --videoDestIp=[IP Address]
o Specifies where SkyLink will stream video to.
• --listenOnly
o SkyLink will not send any commands to the gimbal.
2.13.1.2 OrionUI
• --static_ip=X.X.X.X
o Connect to a gimbal over the specified static IP
2.14 Hardware in the Loop (HIL) Simulation
SkyLink can be used to feed GPS data to a gimbal from any recording to a gimbal using a special HIL
simulation mode. Use the following steps to starts a simulation:
• Launch SkyLink using the following command line, note the double dash:
o SkyLink.exe --hilsim
• Connect to the gimbal. Once connected, reopen the Communication window and push the
Choose Sim Data Source… button. Select the desired .ts SkyLink recording. Since only GPS is
sent to the gimbal and not IMU data, straight and level recordings will in general have the
best result.
• Give the INS approximately 10 seconds to get past initialization mode. You can check the INS
mode under Telemetry, INS; wait until the mode has changed to RUN HARD or RUN to
proceed. If there was significant movement during the recording, the INS may continually
reset.
An alternate method of HIL simulation is to define a single geopoint and name it “HIL SIM”. SkyLink
will then feed the GPS position of the geopoint to the gimbal which allows for testing geopointing
interactions. Once done, remember to delete the geopoint; otherwise, the simulated GPS data will
interfere with normal gimbal operation during a flight.