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No radio input in HIL mode causes APM to not work #633

Open GoogleCodeExporter opened 9 years ago

GoogleCodeExporter commented 9 years ago 
No radio input in HIL mode causes APM to not work. It works Ok with radio PWM 
input but as soon as the PWM input disappears the autopilot stops navigating 
and behaves oddly. PC joystick mode is expected to work, but doesnt solve the 
problem. The plane eventually hits ground (in the simulator).

What steps will reproduce the problem?

Download HIL FW to APM1
Connect a RC radio RX with valid PWM output to the APM1
Connect APM planner 
Test HIL. 
This works OK.
Now disconnect the radio (imagine we would like to fly with joystick on the PC 
instead). 
Try to push the joystick control button in the APM planner

What is the expected output? What do you see instead?

When the RX receiver is disconnected the APM stops navigating 
The PC joystick mode does not work 

What version of the product are you using? On what operating system?
XP
APM Planner 1.1.80
Ardu Plane 2.33 HIL 

Please provide any additional information below.
It should be possible to try HIL without having to connect a RC receiver?

Original issue reported on code.google.com by droniu...@gmail.com on 12 May 2012 at 10:34

GoogleCodeExporter commented 9 years ago 
Could someone please point me to code in the ArduPilot source to help me enable 
HIL w/ GCS joystick? I'm having problems finding it but would very much like to 
get it to work. I realize this may not be a priority for core dev. team so I'm 
more than happy to do it myself, just need a little help getting started. 
Thanks in advance!

Original comment by slynx.ch3@gmail.com on 12 Nov 2012 at 4:16