SITL: implemented built-in serial receivers support in SITL, implemented FC proxy mode, updated SITL docs #9365

RomanLut · 2023-10-12T16:34:39Z

Implemeneted built-in host's serial port mapping for serial receiver in SITL (ser2tcp is not needed anymore)
Implemented mode where any inav/betaflight FC with receiver attached can be used as proxy to connect RC Controller to SITL
Updated SITL docs https://github.com/RomanLut/inav/blob/submit-serial-receiver/docs/SITL/SITL.md

Requires Configurator changes iNavFlight/inav-configurator#1849

Tested under

Windows

SBUS receiver connected throught inverter to CH340 USB-to-serial
ELRS receiver connected to CH340 USB-to-serial
Inav 7.0 flight controller with ELRS receiver attached
Inav 7.0 flight controller with SBUS receiver attached
Betaflight 4.3 AIO FC with Frsky receiver

Linux (Arch, aarch64, riscv64, x86_64; Alpine ia32)

CRSF (ELRS) via pl2303 (FTDI clone)
IBUS via CP2102
FC Proxy (Sbus RX/TX)

FreeBSD (x64_64)

IBUS via CP2102
CRSF (ELRS) via pl2303 (FDTI clone)

MacOS (x64_86 kvm/qemu)

IBUS via CP2102

Please see https://github.com/RomanLut/inav/blob/submit-serial-receiver/docs/SITL/SITL.md for changes.

implemented FC Proxy for SITL update SITL.md

stronnag

NAK: This will not (does not) work in Linux, nor will it work in MacOS.

stronnag · 2023-11-03T14:34:01Z

It does work in FreeBSD, as you can just but the baud rate into the termios structure.
For Linux, you must use termios2 / BOTHER to use non-standard rates (e.g. 400k, 100k). This uses the naive baud rate (vice B_* constants).
For MacOS, you need to use the IOSSIOSPEED, ioctl for non-standard baud rates.

Working example in https://github.com/stronnag/bbl2kml/tree/master/tools/ser2tcp/eg_c or I can make a PR to your repo (let me know if you'd prefer that option).

stronnag · 2023-11-03T14:40:41Z

Is it intentional that both the serial device node ( dev/cuaU0) and TCP [::]:5762 are connected to UART3 below?

~/inav-dev/_sitl]$ ./inav_7.0.0_SITL --path ~/sitl-eeproms/crsf-eeprom.bin --serialuart=3 --serialport /dev/cuaU0 --baudrate 400000 --simip '[::]'
INAV 7.0.0 SITL (d5f7241b)
[SYSTEM] Init...
[SIM] No interface specified. Configurator only.
[SERIALPROXY] Connected /dev/cuaU0 to UART3
[EEPROM] Loaded '/home/jrh/sitl-eeproms/crsf-eeprom.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP [::]:5760 to UART1
[SOCKET] Bind TCP [::]:5761 to UART2
[SOCKET] Bind TCP [::]:5762 to UART3
[SOCKET] [xxxx:xxxx:xxxx:0:18b0:85ff:zzzz:zzzz]:46868 connected to UART1
[SOCKET] [xxxx:xxxx:xxxx:0:18b0:85ff:zzzz:zzzz]:46868 disconnected from UART1

RomanLut · 2023-11-03T22:23:19Z

I can make a PR to your repo (let me know if you'd prefer that option).

This is what I actually was hoping for. I am not Linux/MasOs user and will not be able to test it. Please make a PR.

stronnag · 2023-11-03T22:26:57Z

I can make a PR to your repo (let me know if you'd prefer that option).

This is what I actually was hoping for. I am not Linux/MasOs user and will not be able to test it. Please make a PR.

OK, I'll try and get something done this weekend.

RomanLut · 2023-11-03T22:41:07Z

Is it intentional that both the serial device node ( dev/cuaU0) and TCP [::]:5762 are connected to UART3 below?

Yes, why not? User can use TCP Port or COM port without changing configuration, both will work.

…ort_setting [SITL] Update SITL serial proxy posix port setting

…it-serial-receiver

RomanLut · 2023-11-04T17:12:38Z

OK, I'll try and get something done this weekend.

Merged pull request RomanLut#12 to branch RomanLut:submit-serial-receiver.
Retested on Windows with SBUS receiver and INAV FC Proxy - all works.

stronnag

I'm content. Nice to get rid of the external serial bridge for physical RX.

stronnag · 2023-11-04T17:22:02Z

@DzikuVx apropos testing, in addition to @RomanLut 's Windows testing:

Test Status

Linux (Arch, aarch64, riscv64, x86_64; Alpine ia32)

CRSF (ELRS)

via pl2303 (FTDI clone)

$ ./inav_7.0.0_SITL --path ~/sitl-eeproms/crsf-eeprom.bin --serialuart=3 --serialport /dev/ttyUSB0 --baudrate 400000
INAV 7.0.0 SITL (5a785a44)
[SYSTEM] Init...
[SIM] No interface specified. Configurator only.
[SERIALPROXY] Connected /dev/ttyUSB0 to UART3
[EEPROM] Loaded '/home/jrh/sitl-eeproms/crsf-eeprom.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP [::]:5760 to UART1
[SOCKET] Bind TCP [::]:5761 to UART2
[SOCKET] Bind TCP [::]:5762 to UART3
[SOCKET] [::1]:40896 connected to UART1
[SOCKET] [::1]:40896 disconnected from UART1

IBUS

via CP2102

$ ./inav_7.0.0_SITL --path ~/sitl-eeproms/ibus-eeprom.bin --serialuart=3 --serialport /dev/ttyUSB0 --baudrate 115200
INAV 7.0.0 SITL (5a785a44)
[SYSTEM] Init...
[SIM] No interface specified. Configurator only.
[SERIALPROXY] Connected /dev/ttyUSB0 to UART3
[EEPROM] Loaded '/home/jrh/sitl-eeproms/ibus-eeprom.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP [::]:5760 to UART1
[SOCKET] Bind TCP [::]:5761 to UART2
[SOCKET] Bind TCP [::]:5762 to UART3
[SOCKET] [::1]:37446 connected to UART1
[SOCKET] [::1]:37446 disconnected from UART1

FC Proxy (Sbus TX)

$ ./inav_7.0.0_SITL --path ~/sitl-eeproms/sim-eeprom.bin --serialport /dev/ttyACM0 --fcproxy
INAV 7.0.0 SITL (5a785a44)
[SYSTEM] Init...
[SIM] No interface specified. Configurator only.
[SERIALPROXY] Using proxy flight controller on /dev/ttyACM0
[EEPROM] Loaded '/home/jrh/sitl-eeproms/sim-eeprom.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP [::]:5760 to UART1
[SOCKET] Bind TCP [::]:5761 to UART2
[SERIALPROXY] Requesting RX config from proxy FC...
[SERIALPROXY] Setting RX config on proxy FC...

Correct movement of sticks etc. seen in Configurator.

FreeBSD (x64_64)

IBUS

via CP2102

$ ./inav_7.0.0_SITL --path ~/sitl-eeproms/ibus-eeprom.bin --serialuart=3 --serialport /dev/cuaU0 --baudrate 115200
INAV 7.0.0 SITL (5a785a44)
[SYSTEM] Init...
[SIM] No interface specified. Configurator only.
[SERIALPROXY] Connected /dev/cuaU0 to UART3
[EEPROM] Loaded '/home/jrh/sitl-eeproms/ibus-eeprom.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP [::]:5760 to UART1
[SOCKET] Bind TCP [::]:5761 to UART2
[SOCKET] Bind TCP [::]:5762 to UART3
[SOCKET] [xxxx:xxxx:xxxx:0:18b0:85ff:zzzz:zzzz]:36908 connected to UART1
[SOCKET] [xxxx:xxxx:xxxx:0:18b0:85ff:zzzz:zzzz]:36908 disconnected from UART1

CRSF (ELRS)

via pl2303 (FDTI clone)

./inav_7.0.0_SITL --path ~/sitl-eeproms/crsf-eeprom.bin --serialuart=3 --serialport /dev/cuaU0 --baudrate 400000
INAV 7.0.0 SITL (5a785a44)
[SYSTEM] Init...
[SIM] No interface specified. Configurator only.
[SERIALPROXY] Connected /dev/cuaU0 to UART3
[EEPROM] Loaded '/home/jrh/sitl-eeproms/crsf-eeprom.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP [::]:5760 to UART1
[SOCKET] Bind TCP [::]:5761 to UART2
[SOCKET] Bind TCP [::]:5762 to UART3
[SOCKET] [xxxx:xxxx:xxxx:0:18b0:85ff:zzzz:zzzz]:59058 connected to UART1
[SOCKET] [xxxx:xxxx:xxxx:0:18b0:85ff:zzzz:zzzz]:59058 disconnected from UART1

Correct movement of sticks etc. seen in Configurator.

MacOS (x64_86 kvm/qemu)

IBUS

via CP2102

$ ./inav_7.0.0_SITL --path ~/sitl-eeproms/ibus-eeprom.bin --serialuart=3 --serialport /dev/cu.usbserial-0001 --baudrate 115200
INAV 7.0.0 SITL (5a785a44)
[SYSTEM] Init...
[SIM] No interface specified. Configurator only.
[SERIALPROXY] Connected /dev/cu.usbserial-0001 to UART3
[EEPROM] Loaded '/Users/jrh/sitl-eeproms/ibus-eeprom.bin' (32768 of 32768 bytes)
[SOCKET] Bind TCP [::]:5760 to UART1
[SOCKET] Bind TCP [::]:5761 to UART2
[SOCKET] Bind TCP [::]:5762 to UART3
[SOCKET] [::ffff:172.31.0.244]:51594 connected to UART1
[SOCKET] [::ffff:172.31.0.244]:51594 disconnected from UART1

Correct movement of sticks etc. seen in Configurator.

CRSF not tested as environment does support pl2303/400000 baud (however, stty reports correct tty settings after SITL started with --serialuart=3 --serialport /dev/cu.usbserial-5D20 --baudrate 400000

$ stty < /dev/cu.usbserial-5D20
speed 400000 baud;
lflags: -icanon -isig -iexten -echo
iflags: -icrnl -ixon -ixany -imaxbel -brkint
oflags: -opost -onlcr -oxtabs
cflags: cs8 -parenb clocal
min
0

…-serial-receiver

RobertoD91 · 2024-03-17T21:40:18Z

Just wanted to say thanks for writing:

Please note that 100000(SBUS) and 420000(CRSF) are non-standart baud rates which may not be supported by some USB-to-serial adapters. FDTI and CH340 should work. CP2102/9 does not work.

It saved me from a big headache.

stronnag · 2024-04-27T15:31:45Z

Retested on Linux ... time to merge.

…ted FC proxy mode, updated SITL docs (iNavFlight#9365) * implemented built-in serial receivers support in SITL implemented FC Proxy for SITL update SITL.md * Update SITL.md * Update SITL.md * Update SITL.md * Update SITL.md * [SITL] update POSIX serial functions to support non-standard baud rates * disable xon/hof on serial port (SITL serial_proxy) --------- Co-authored-by: Jonathan Hudson <[email protected]>

implemented built-in serial receivers support in SITL

da5faaa

implemented FC Proxy for SITL update SITL.md

RomanLut mentioned this pull request Oct 12, 2023

SITL: adjusted SITL tab (built-in serial receiver support) iNavFlight/inav-configurator#1849

Merged

RomanLut changed the title ~~implemented built-in serial receivers support in SITL, FC proxy mode, upate SITL docs~~ implemented built-in serial receivers support in SITL, FC proxy mode, update SITL docs Oct 12, 2023

RomanLut mentioned this pull request Oct 12, 2023

✅ SITL OSD Support + Ideas for HD Fonts RomanLut/INAV-X-Plane-HITL#14

Closed

RomanLut changed the title ~~implemented built-in serial receivers support in SITL, FC proxy mode, update SITL docs~~ SITL: implemented built-in serial receivers support in SITL, FC proxy mode, update SITL docs Oct 12, 2023

RomanLut marked this pull request as ready for review October 12, 2023 17:18

RomanLut mentioned this pull request Oct 12, 2023

SITL Ser2TCP issue iNavFlight/inav-configurator#1817

Open

RomanLut changed the title ~~SITL: implemented built-in serial receivers support in SITL, FC proxy mode, update SITL docs~~ SITL: implemented built-in serial receivers support in SITL, implemented FC proxy mode, update SITL docs Oct 12, 2023

RomanLut changed the title ~~SITL: implemented built-in serial receivers support in SITL, implemented FC proxy mode, update SITL docs~~ SITL: implemented built-in serial receivers support in SITL, implemented FC proxy mode, updated SITL docs Oct 12, 2023

RomanLut added 3 commits October 13, 2023 21:17

Update SITL.md

25b9848

Update SITL.md

f9414fc

Update SITL.md

be688ed

DzikuVx added the Testing Required label Oct 26, 2023

Update SITL.md

4004449

stronnag requested changes Nov 3, 2023

View reviewed changes

stronnag and others added 3 commits November 4, 2023 12:35

[SITL] update POSIX serial functions to support non-standard baud rates

5a785a4

Merge pull request #12 from stronnag/update_sitl_serial_proxy_POSIX_p…

662fc78

…ort_setting [SITL] Update SITL serial proxy posix port setting

Merge branch 'master' of https://github.com/iNavFlight/inav into subm…

f46cf52

…it-serial-receiver

RomanLut requested a review from stronnag November 4, 2023 17:10

stronnag approved these changes Nov 4, 2023

View reviewed changes

RomanLut added 3 commits February 5, 2024 17:20

disable xon/hof on serial port (SITL serial_proxy)

7d1218b

Merge branch 'master' of https://github.com/RomanLut/inav into submit…

c49a1d5

…-serial-receiver

Merge branch 'iNavFlight:master' into submit-serial-receiver

e652409

mmosca added this to the 8.0 milestone Apr 27, 2024

This was referenced Apr 27, 2024

[SITL] MacOS SITL, build as universal binary #9981

Merged

Enable SITL for MacOS iNavFlight/inav-configurator#2044

Merged

Missing Ser2TCP in MacOSX for SITL iNavFlight/inav-configurator#2045

Closed

stronnag merged commit e92337a into iNavFlight:master Apr 27, 2024
14 checks passed

This was referenced Apr 28, 2024

SITL: inable to select serial receiver #9986

Closed

Support for usb controller RomanLut/INAV-X-Plane-HITL#24

Closed

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SITL: implemented built-in serial receivers support in SITL, implemented FC proxy mode, updated SITL docs #9365

SITL: implemented built-in serial receivers support in SITL, implemented FC proxy mode, updated SITL docs #9365

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SITL: implemented built-in serial receivers support in SITL, implemented FC proxy mode, updated SITL docs #9365

SITL: implemented built-in serial receivers support in SITL, implemented FC proxy mode, updated SITL docs #9365

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Test Status

Linux (Arch, aarch64, riscv64, x86_64; Alpine ia32)

CRSF (ELRS)

IBUS

FC Proxy (Sbus TX)

FreeBSD (x64_64)

IBUS

CRSF (ELRS)

MacOS (x64_86 kvm/qemu)

IBUS

RobertoD91 commented Mar 17, 2024

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