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hamishwillee authored Jan 21, 2025
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Expand Up @@ -181,7 +181,9 @@ For SIH on FC:

- Airframe file goes in `ROMFS/px4fmu_common/init.d/airframes` and follows the naming template `${ID}_${model_name}.hil`, where `ID` is the `SYS_AUTOSTART_ID` used to select the airframe, and `model_name` is the airframe model name.
- Add the model name in `ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt` to generate a corresponding make target.
- Actuators are configured with `HIL_ACT_FUNC*`, rather than `PWM_MAIN_FUNC*` as usual. This is to avoid using the actual actuators in SIH. Similarly, the bitfield for inverting individual actuator output ranges is `HIL_ACT_REV`, rather than `PWM_MAIN_REV`.
- Actuators are configured with `HIL_ACT_FUNC*`, rather than `PWM_MAIN_FUNC*` as usual.
This is to avoid using the actual actuators in SIH.
Similarly, the bitfield for inverting individual actuator output ranges is `HIL_ACT_REV`, rather than `PWM_MAIN_REV`.

For SIH as SITL (no FC):

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