Merge branch 'master' of https://github.com/alireza787b/px4xplane

README.md

@@ -4,6 +4,14 @@ This project establishes a robust connection between X-Plane and PX4 SITL (Softw
 
 ## Latest Release - Version 2.0.0 (August 2024)
 
+[![PX4 X-Plane Plugin v2.0.0 Demo](https://github.com/user-attachments/assets/3fb6d042-20d9-4589-8a79-44f434d5870d)](https://youtu.be/oQTlBVXqR04)
+
+Curious about the new features in the PX4 X-Plane Plugin v2.0.0? Check out this demo video where I walk you through the simplified setup process, showcase the multi-airframe support, and test various drones like the Ehang 184, Alia 250, Cessna 172, and Bayraktar TB2. Whether you're a student, researcher, or industry professional, this quick overview will get you up and running in no time!
+
+👉 [Watch the full demo and installation guide here!](https://youtu.be/oQTlBVXqR04)
+
+![Untitled (7)](https://github.com/user-attachments/assets/3fb6d042-20d9-4589-8a79-44f434d5870d)
+
 ### What's New
 - **Sensor Improvements**: Fixed many sensor problems and inconsistencies.
 - **Multi-Airframe Support**: Native support for multiple airframes including:
@@ -116,7 +124,15 @@ For advanced users, manually clone and set up the environment using the forked P
 
 Refer to the [official PX4 WSL setup documentation](https://docs.px4.io/main/en/simulation/) for more details, but use the forked repository instead of the official PX4 repo until the changes are merged.
 
+## Defining Custom Airframes
+
+If you need to define new airframes for your simulation, follow the detailed guide here:
+
+👉 [How to Define Custom Airframes in PX4-XPlane](https://github.com/alireza787b/px4xplane/blob/master/docs/custom-airframe-config.md)
+
+This guide will walk you through the process of setting up custom configurations, mapping PX4 channels to X-Plane datarefs, and integrating new airframes into your simulations. Whether you're using existing X-Plane models or creating new ones in Plane Maker, this guide has you covered.
 
+---
 
 ## Contribution and Support
 

docs/custom-airframe-config.md

@@ -0,0 +1,112 @@
+# Defining Custom Airframes in PX4-XPlane
+
+This guide walks you through defining custom airframe configurations in PX4-XPlane using the `config.ini` file. We’ll cover key concepts, provide detailed examples, and guide you through the entire process—from configuring the file to testing your setup in X-Plane.
+
+## Overview
+
+To define a custom airframe configuration, follow these steps:
+1. **Select or Build a Plane Model**: Choose an existing X-Plane model or create one from scratch using X-Plane’s Plane Maker.
+2. **Select a Similar Airframe in PX4 or Start from Scratch**: Choose a pre-existing PX4 airframe that closely matches your custom setup, or define a new one from scratch. You can double-check channel numbers, servos, and functionalities in the dynamic mixing section of QGroundControl’s Actuator section under SITL.
+3. **Configure the `config.ini` File**: Map PX4 channels to X-Plane datarefs.
+4. **Understand Datarefs and Their Types**: Learn how to select and configure datarefs.
+5. **Build and Test the Configuration**: Test your configuration in X-Plane and PX4.
+
+## Step 1: Select or Build a Plane Model
+
+### Using Existing Models
+
+- **Pre-existing Models**: Use existing X-Plane models that closely match your custom airframe.
+- **Modify Models**: Modify an existing X-Plane model to fit your requirements.
+
+### Creating a New Model
+
+- **Use Plane Maker**: Create a new aircraft using X-Plane’s Plane Maker tool if no existing model fits your needs.
+
+## Step 2: Select a Similar Airframe in PX4 or Start from Scratch
+
+### Using Pre-existing Airframes in PX4
+
+- **Choose a Similar Airframe**: If your custom airframe is similar to an existing setup, use that as a starting point (e.g., `xplane_alia250`).
+- **Dynamic Mixing in QGroundControl**: Verify and adjust channel mappings in the dynamic mixing section of the Actuator settings in QGroundControl’s SITL section.
+
+### Starting from Scratch
+
+- **Define in PX4 Source Code**: For complex airframes, you may prefer to define the aircraft directly in the PX4 source code and compile it.
+- **Dynamic Mixing in QGroundControl**: Verify and adjust channel mappings in the dynamic mixing section of the Actuator settings in QGroundControl’s SITL section.
+
+## Step 3: Configuring the `config.ini` File
+
+The `config.ini` file defines how PX4’s outputs (e.g., motors, control surfaces) map to X-Plane’s inputs.
+
+### Example Configuration for Alia 250 eVTOL
+
+```ini
+; PX4-XPlane Configuration File
+; File Version: 1.3
+; Last Updated: December 26, 2023
+; This file configures the mapping of motor and servo channels from PX4 to X-Plane.
+
+; Configuration Name (Displayed in UI)
+config_name = Alia250
+
+[Alia250]
+
+; Auto-Prop Brakes: Specifies which motors have an auto-prop brake system.
+; Format: Comma-separated list of motor indices in X-Plane.
+autoPropBrakes = 0, 1, 2, 3
+
+; Quadcopter Motors (1-4)
+channel0 = sim/flightmodel/engine/ENGN_thro_use, floatArray, [0], [-1 1]
+channel1 = sim/flightmodel/engine/ENGN_thro_use, floatArray, [1], [-1 1]
+channel2 = sim/flightmodel/engine/ENGN_thro_use, floatArray, [2], [-1 1]
+channel3 = sim/flightmodel/engine/ENGN_thro_use, floatArray, [3], [-1 1]
+
+; Fixed-Wing Control Surfaces (Ailerons, Elevator, Rudder)
+channel4 = sim/flightmodel/controls/wing2l_ail1def, float, 0, [-20 10] | sim/flightmodel/controls/wing2l_ail2def, float, 0, [-20 10] | sim/flightmodel/controls/wing3l_ail2def, float, 0, [-20 10]
+channel5 = sim/flightmodel/controls/wing2r_ail1def, float, 0, [-20 10] | sim/flightmodel/controls/wing2r_ail2def, float, 0, [-20 10] | sim/flightmodel/controls/wing3r_ail2def, float, 0, [-20 10]
+channel6 = sim/flightmodel/controls/hstab1_elv1def, float, 0, [-15 20] | sim/flightmodel/controls/hstab1_elv2def, float, 0, [-15 20]
+channel7 = sim/flightmodel/controls/vstab1_rud1def, float, 0, [-15 20] | sim/flightmodel/controls/vstab2_rud2def, float, 0, [-15 20]
+
+; Additional Forward Thrust Motor
+channel8 = sim/flightmodel/engine/ENGN_thro_use, floatArray, [4], [-1 1]
+```
+
+### Key Sections Explained
+
+- **Configuration Name**: Displayed in the PX4-XPlane UI; this helps you identify the active configuration.
+- **Auto-Prop Brakes**: Reduces drag by braking the propellers when they’re not needed, useful for eVTOL configurations.
+- **Channel Mappings**: Defines how each PX4 channel maps to X-Plane’s datarefs. Each channel can control a motor, control surface, or other aircraft function.
+
+## Step 4: Understanding Datarefs and Their Types
+
+### Dataref Types
+
+- **`float`**: Single floating-point value, typically used for control surfaces like ailerons or rudders.
+- **`floatArray`**: An array of floating-point values, often used for multi-engine aircraft or multiple control surfaces.
+- **`int`**: Integer values, typically used for binary states such as landing gear.
+- **`intArray`**: An array of integers, similar to `floatArray` but used for integer data.
+
+### Selecting Datarefs
+
+Choosing the correct dataref ensures accurate simulation behavior:
+- **Throttle and Motors**: Use `sim/flightmodel/engine/ENGN_thro_use` with `floatArray`.
+- **Control Surfaces**: For ailerons, elevators, and rudders, use datarefs like `sim/flightmodel/controls/wing2l_ail1def` with `float`.
+- **Auto-Prop Brakes**: Define motor indices that should have auto-prop brakes to minimize drag during flight.
+
+Use the Dataref Tool plugin in X-Plane to find the correct dataref for your setup, or refer to the [X-Plane Dataref Documentation](https://developer.x-plane.com/datarefs/) for more details.
+
+## Step 5: Building and Testing the Configuration
+
+### Testing
+
+1. **Load and Test in PX4-XPlane**: Load the configuration in X-Plane and test the controls.
+2. **Adjust as Needed**: Modify the `config.ini` file or PX4 parameters to fine-tune control and simulation accuracy.
+
+### Final Notes: Custom Airframe Setup in PX4
+
+Remember, the channel numbers should be defined in the SITL Actuator section of QGroundControl. You can either:
+- **Use Dynamic Mixing**: Adjust actuator outputs directly within QGroundControl for flexibility.
+- **Define in Source Code**: For more complex setups, define the airframe in the PX4 source code, build it, and then test.
+
+By following these steps, you’ll ensure your custom airframe behaves correctly in both PX4 and X-Plane, allowing for realistic and accurate simulations.
+

docs/v2.md

@@ -1,15 +1,21 @@
-# PX4 with X-Plane and QGroundControl Setup Guide (v2.0.0, August 2024)
+# PX4 with X-Plane and QGroundControl Setup Guide (v2.0.2, August 2024)
+## Watch the PX4 X-Plane Plugin v2.0.0 Demo
+
+[![PX4 X-Plane Plugin v2.0.0 Demo](https://github.com/user-attachments/assets/3fb6d042-20d9-4589-8a79-44f434d5870d)](https://youtu.be/oQTlBVXqR04)
+
+Curious about the new features in the PX4 X-Plane Plugin v2.0.0? Check out this demo video where I walk you through the simplified setup process, showcase the multi-airframe support, and test various drones like the Ehang 184, Alia 250, Cessna 172, and Bayraktar TB2. Whether you're a student, researcher, or industry professional, this quick overview will get you up and running in no time!
+
+👉 [Watch the full demo and installation guide here!](https://youtu.be/oQTlBVXqR04)
 
-![YouTube Video Coming Soon](https://via.placeholder.com/900x500.png?text=YouTube+Video+Coming+Soon)
 
-Watch full setup guide and demonstration on YouTube: [PX4 X-Plane Plugin Tutorial](https://www.youtube.com/watch?v=aRJxsnf24k4).
 
 ## Table of Contents
 
 - [Download and Install Softwares](#download-and-install-softwares)
 - [Setting Up the Environment](#setting-up-the-environment)
 - [Clone and Build PX4](#clone-and-build-px4)
 - [Configuration](#configuration)
+- [Defining Custom Airframes](#defining-custom-airframes)
 - [Additional Tips](#additional-tips)
 
 ---
@@ -88,6 +94,16 @@ Run the setup script:
 bash ./Tools/setup/ubuntu.sh
 ```
 
+Configure PX4 SITL:
+   - In Windows Terminal, check your IP address (e.g., `172.21.144.1`):
+     ```bash
+     ipconfig
+     ```
+   - In the WSL Terminal, inside the PX4-Autopilot directory, set the PX4 simulation hostname with your IP:
+     ```bash
+     export PX4_SIM_HOSTNAME=172.21.144.1
+     ```
+
 Follow the regular PX4 WSL setup instructions, replacing the official repository with the forked one. Once set up, you can build the desired airframes with commands like:
 
 ```bash
@@ -116,6 +132,15 @@ px4xplane
 
 The selected airframe will automatically load in X-Plane, and you can manage the configuration through the PX4 SITL menus directly. Manual parameter loading is no longer required for the supported airframes.
 
+---
+## Defining Custom Airframes
+
+If you need to define new airframes for your simulation, follow the detailed guide here:
+
+👉 [How to Define Custom Airframes in PX4-XPlane](https://github.com/alireza787b/px4xplane/blob/master/docs/custom-airframe-config.md)
+
+This guide will walk you through the process of setting up custom configurations, mapping PX4 channels to X-Plane datarefs, and integrating new airframes into your simulations. Whether you're using existing X-Plane models or creating new ones in Plane Maker, this guide has you covered.
+
 ---
 
 ## Additional Tips