Flight Gear

Things you need

1. Flight Gear 2.0 Flightgear

2. !ArdupilotMegaPlanner Windows

3. Ardupilot HIL on your APM (via APM Planner)

4. Mavlink.xml data format file for flightgear Protocol

How to make it work

1. Install flight gear if you have not already

2. Copy Mavlink.xml to C:\Program Files (x86)!FlightGear\data\Protocol

3. Make sure the HIL ardupilot firmware is on your APM

4. Create a bat file like this

   "C:\Program Files (x86)\FlightGear\bin\Win32\fgfs" ^ "--fg-root=C:\Program Files (x86)\FlightGear\data" ^ "--geometry=400x300" ^ "--native-fdm=socket,out,50,127.0.0.1,49005,udp" ^ "--generic=socket,in,50,127.0.0.1,49000,udp,MAVLink" ^ "--roll=0" ^ "--pitch=0" ^ "--wind=0@0" ^ "--turbulence=0.0" ^ "--prop:/sim/frame-rate-throttle-hz=30" ^ "--timeofday=noon" ^ "--shading-flat" ^ "--fog-disable" ^ "--disable-specular-highlight" ^ "--disable-skyblend" ^ "--disable-random-objects" ^ "--disable-panel" ^ "--disable-horizon-effect" ^ "--disable-clouds" ^ "--disable-anti-alias-hud"

5. Start Flightgear using the bat file above and wait till the simulation starts

6. Start !ArdupilotMega Planner.

7. Connect to the APM

8. Click the Flightgear Radio button

9. Click Sim Link Start/Stop.

The output should look similar to this