This repository contains the code for modeling UAV swarms using Hardware-in-the-Loop (HIL) to connect Pixhawk^[1] autopilots to instances of JSBSim.

A Sept 2015 version of the OpenEaagles simulation framework ('OpenEaagles' and 'OpenEaagles3rdParty' directories) is included as well as extension to that framework ('OpenEaaglesSwarmSims') that enables the modeling of UAV swarms.

For the latest OpenEaagles source code, see: GitHub or OE

The Excel spreadsheet title "UAV_Waypoints.xlsx" generates random swarming UAVs used in the swarmSim project.

SIMDIS with a DIS plugin is used to provide the visual interface for simulations in this project.

SIMDIS™ is a set of software tools that provide two and three-dimensional interactive graphical and video display of live and post processed simulation, test, and operational data. SIMDIS has evolved from a Naval Research Laboratory display tool for the output of missile models to a premier government off the shelf (GOTS) product for advanced situational awareness and visual analysis. Since its inception, the toolkit has experienced significant user base growth with over 16,000 current registrations.

SIMDIS is targeted for Linux and Windows that have hardware accelerated 3D graphics.

Download and install SIMDIS

• You will need to create an account to access the site
• From the Menu under "Downloads\Archives\SIMDIS 9.5.0 (SR7)" select Download Full
• Select and download the appropriate installer for your system
• Follow installer directions

Download and install DIS plugin

• Download and follow directions in SIMDIS_DIS_Plugin.pdf
  (From the Menu under "Downloads\Archives\Plug-ins\DIS\DIS Plug-in Documentation")

1. Install Visual Studio 2013
2. Install SIMDIS
3. Clone or unzip this repository to your computer
4. Double-click on _afit-swarm-simulation\OpenEaagles\build\premake_make.bat
5. Open _afit-swarm-simulation\OpenEaagles\build\vs2013_oe.sln with VS2013 and built project

• Right click "Solution 'oe' (15 projects)"
• Select "Build Solution" (F7)
• Verified "Build: 15 succeeded, 0 failed, 0 up-to-date, 0 skipped"
• Close VS2013

6. Open _afit-swarm-simulation\OpenEaaglesSwarmSims\build\vs2013_swarmdev.sln with VS2013 and built project

• Right click "Solution 'swarmdev' (2 project)"
• Select "Build Solution" (F7)
• Verified "Build: 2 succeeded, 0 failed, 0 up-to-date, 0 skipped"

7. You are now ready to simulate UAV swarms using HIL

• Edit swarm.epp to configure your swarm^[2]
• Run the batch file, makeEdl.bat, to compile your inputs into an EDL file, swarm.edl
• Right-click swarmSim and select "Set as StartUp Project" if not already set
• Press (F5) or click the Local Windows Debugger play button to run the project

8. View your swarm using SIMDIS

• Startup SIMDIS and load the DIS plugin if not automatically loaded
• From the "Plug-in Tools" menu, select "DIS..." or press ([)
• Under Network Settings, ensure "DIS IP Address" and "Network Interface" are
  both set to 127.0.0.1 and "DIS Port" is set to 3000
• Click the Connect button and Close
• You should now see your swarm and have the ability to interact with it (i.e. pan, tilt, zoom, follow, etc.)

_{[1] Note: Pixhawk autopilots used here are flashed with the px4fmu-v2_default.px4 firmware Standard Version (stable) using QGroundControl. To increase fight stability while swarming, the FW_P_LIM_MAX parameter (positive pitch limit) was changed from its default value of 45.0 to 15.0. FW_P_RMAX_POS and FW_P_RMAX_NEG (maximum positive and negative pitch rates) were both changed from their default value of 60.0 to 10.0. All other parameters remained unchanged from their default values. Also note that the Pixhawk safety switch must be installed and used to disable the safety mode.}

_{[2] For more information on the Eaagles Definition Language (i.e. understanding how to configure .epp and .edl files), see Basic Package Classes Slides under the Documentation section of the OpenEaagles website.}