Simulink C++S函数，用于使用ArduPilot进行软件在环（SIL）仿真

# ArduPlane SIL Connector for Simulink Simulink C++ S-function for software-in-the-loop simulation with ArduPlane. []() Requirements - MATLAB & Simulink (MATLAB R2022a or earlier) - MinGW-w64 or MSVC C/C++ Compiler - MissionPlanner Files [ardupilot_sil_connector.cpp](https://github.com/aviumtechnologies/ardupilot-sil-connector/blob/master/ardupilot_sil_connector.cpp) <div style="height:1px; background-color:rgba(0,0,0,0.12);"></div> [make.m](https://github.com/aviumtechnologies/ardupilot-sil-connector/blob/master/make.m) <div style="height:1px; background-color:rgba(0,0,0,0.12);"></div> [includes.zip](https://github.com/aviumtechnologies/ardupilot-sil-connector/blob/master/includes.zip) (contains the Asio C++ and MAVLink C libraries) <div style="height:1px; background-color:rgba(0,0,0,0.12);"></div> Build instructions - Install MATLAB-supported compiler https://mathworks.com/support/requirements/supported-compilers.html. - Download the "ardupilot_sil_connector.cpp" and "make.m" files and the "includes.zip" archive. - Unzip the "includes.zip archive". - Run "make.m" to create a "ardupilot_sil_connector.mexw64" (Windows), "ardupilot_sil_connector.mexa64" (Linux), "ardupilot_sil_connector.mexmaci64" (macOS) file. Use instructions - Download and install MissionPlanner [https://ardupilot.org/planner/docs/mission-planner-installation.html](https://ardupilot.org/planner/docs/mission-planner-installation.html). - Open MissionPlanner, select the "Simulation" tab and click on the "Plane" icon to download the ArduPlane SIL simulator. - After downloading the ArduPlance SIL simulator, open a command prompt and navigate to "C:\Users\\Documents\Mission Planner\sitl". - Execute the following command in the command prompt: <pre>ArduPlane.exe --home 42.841448,24.770727,0.5,0 --model json</pre> - Click the connect icon in Mission Planner. Use the default host and port options. - Open and run "ardupilot_sitl_connector_example.slx". [](https://youtu.be/kRq-3Ux5j3Q) <p align="center">Example use of the ArduPilot SIL connector</p>  <p align="center">ArduPilot SIL connector example</p> Additional information available at https://fst.aviumtechnologies.com/ardupilot-sil-connector