SITL integration

_locales/en/messages.json

@@ -139,8 +139,124 @@
     "tabAuxiliary": {
         "message": "Modes"
     },
-
-    "serialPortOpened": {
+    "tabSitl": {
+        "message" : "SITL"
+    },
+    "sitlDemoMode": {
+        "message": "Demo Mode"
+    },
+    "sitlResetDemoModeData": {
+        "message": "Reset Demo Mode"
+    },
+    "sitlOSNotSupported": {
+        "message": "SITL is not supported on this operating system."
+    },
+    "sitlOptions": {
+        "message": "SITL Options"
+    },
+    "sitlEnableSim": {
+        "message": "Enable simulator"
+    },
+    "sitlSimulator": {
+        "message": "Simulator"
+    },
+    "sitlUseImu": {
+        "message": "Use IMU"
+    },
+    "sitlSimIP": {
+        "message" : "Simulator IP"
+    },
+    "sitlPort": {
+        "message" : "Simulator Port"
+    },
+    "sitlChannelMap": {
+        "message": "Channel Mapping"
+    },
+    "sitlSimInput": {
+        "message": "Simulator Input"
+    },
+    "sitlInavOutput": {
+        "message": "INAV Output"
+    },
+    "sitlLog": {
+        "message": "Log"
+    },
+    "sitlStart": {
+        "message": "Start"
+    },
+    "sitlStop": {
+        "message": "Stop"
+    },
+    "sitlStopped": {
+        "message": "SITL stopped\n"
+    },
+    "sitlProfiles": {
+        "message": "SITL Profiles"
+    },
+    "sitlNew": {
+        "message": "New"
+    },
+    "sitlSave": {
+        "message": "Save"
+    },
+    "sitlDelete": {
+        "message": "Delete"
+    },
+    "sitlNewProfile": {
+        "message": "New SITL Profile"
+    },
+    "sitlEnterName": {
+        "message": "(Profile name)"
+    },
+    "sitlProfileExists": {
+        "message": "A profile with this name already exists."
+    },
+    "sitlStdProfileCantDeleted": {
+        "message": "SITL standard profile can't be deleted."
+    },
+    "sitlSerialToTCP": {
+        "message": "Serial to TCP (UART)"
+    },
+    "sitlSerialProtocoll": {
+        "message": "Preset for RX Protocoll"
+    },
+    "sitlSerialStopbits": {
+        "message": "Stopbits"
+    },
+    "sitlSerialPort": {
+        "message": "Serial port"
+    },
+    "sitlSerialTCPPort": {
+        "message": "TCP port"
+    },
+    "sitlSerialParity": {
+        "message": "Parity"
+    },
+    "sitlSerialTcpEnable": {
+        "message": "Enable"
+    },
+    "sitlHelp": {
+        "message": "SITL (Software in the loop) allows to run INAV completely in software on the PC without using a flight controller and simulate complete FPV flights. For this, INAV is compiled with a normal PC compiler. The sensors are replaced by data provided by a simulator.<br/>Currently supported are:<br/><ul><li><a href=\"https://www.realflight.com\" target=\"_blank\">RealFlight</a><br/></li><li><a href=\"https://www.x-plane.com\" target=\"_blank\">X-Plane</a></li></ul>"
+    },
+    "sitlProfilesHelp": {
+        "message": "Profiles are saved locally. The profiles contain not only all data of this tab, but also the configuration file (\"EEPROM\") of INAV itself."
+    },
+    "sitlEnableSimulatorHelp": {
+        "message": "If this option is deactivated, only the Configurator can be used. Useful to configure INAV without having to start the simulator."
+    },
+    "sitlUseImuHelp": {
+        "message": "Use IMU sensor data from the simulator instead of using attitude data from the simulator directly (Experimental, not recommended)."
+    },
+    "sitlIpHelp": {
+        "message": "IP address of the computer on which the simulator is running. If the simulator is running on the same computer, leave it at \"127.0.0.1"
+    },
+    "sitlPortHelp": {
+        "message": "Port number of the interface of the simulator. Note: The RealFlight port is fixed and cannot be changed."
+    },
+    "sitlSer2TcpHelp": {
+        "message": "Devices with a UART interface can be used with SITL via a serial to USB interface. Especially intended for serial receivers to use the full number of channels. "
+    },
+     "serialPortOpened": {
         "message": "MSP connection <span style=\"color: #37a8db\">successfully</span> opened with ID: $1"
     },
     "serialPortOpenFail": {

gulpfile.js

@@ -136,6 +136,7 @@ sources.js = [
     './js/waypoint.js',
     './node_modules/openlayers/dist/ol.js',
     './js/libraries/plotly-latest.min.js',
+    './js/sitl.js',
 ];
 
 sources.receiverCss = [
@@ -252,6 +253,8 @@ gulp.task('dist-build', gulp.series('build', function() {
         './resources/models/*',
         './resources/osd/analogue/*.mcm',
         './resources/motor_order/*.svg',
+        './resources/sitl/windows/*',
+        './resources/sitl/linux/*'
     ];
     return gulp.src(distSources, { base: '.' })
         .pipe(gulp.dest(distDir));
@@ -268,7 +271,8 @@ gulp.task('apps', gulp.series('dist', function(done) {
         flavor: 'normal',
         macIcns: './images/inav.icns',
         winIco: './images/inav.ico',
-        version: get_nw_version()
+        version: get_nw_version(),
+        zip: false
     });
     builder.on('log', console.log);
     builder.build(function (err) {

js/fc.js

@@ -596,7 +596,8 @@ var FC = {
             'NMEA',
             'UBLOX',
             'UBLOX7',
-            'MSP'
+            'MSP',
+            'FAKE'
         ];
     },
     getGpsBaudRates: function () {

js/gui.js

@@ -14,6 +14,7 @@ var GUI_control = function () {
         'landing',
         'firmware_flasher',
         'mission_control',
+        'sitl',
         'help'
     ];
     this.defaultAllowedTabsWhenConnected = [

js/port_handler.js

@@ -66,7 +66,7 @@ PortHandler.check = function () {
                 chrome.storage.local.get('last_used_port', function (result) {
                     // if last_used_port was set, we try to select it
                     if (result.last_used_port) {
-                        if (result.last_used_port == "ble" || result.last_used_port == "tcp" || result.last_used_port == "udp") {
+                        if (result.last_used_port == "ble" || result.last_used_port == "tcp" || result.last_used_port == "udp" || result.last_used_port == "sitl" || result.last_used_port == "sitl-demo") {
                             $('#port').val(result.last_used_port);
                         } else {
                             current_ports.forEach(function(port) {
@@ -181,6 +181,8 @@ PortHandler.update_port_select = function (ports) {
     $('div#port-picker #port').append($("<option/>", {value: 'ble', text: 'BLE', data: {isBle: true}}));
     $('div#port-picker #port').append($("<option/>", {value: 'tcp', text: 'TCP', data: {isTcp: true}}));
     $('div#port-picker #port').append($("<option/>", {value: 'udp', text: 'UDP', data: {isUdp: true}}));
+    $('div#port-picker #port').append($("<option/>", {value: 'sitl', text: 'SITL', data: {isSitl: true}}));
+    $('div#port-picker #port').append($("<option/>", {value: 'sitl-demo', text: 'Demo mode', data: {isSitl: true}}));
 };
 
 PortHandler.port_detected = function(name, code, timeout, ignore_timeout) {

js/serial_backend.js

@@ -5,7 +5,8 @@ $(document).ready(function () {
 
     var $port = $('#port'),
         $baud = $('#baud'),
-        $portOverride = $('#port-override');
+        $portOverride = $('#port-override'),
+        isDemoRunning = false;
 
     /*
      * Handle "Wireless" mode with strict queueing of messages
@@ -89,22 +90,22 @@ $(document).ready(function () {
             $('#port-override-label').text("Port");
         }
 
-        if (selected_port.data().isDFU || selected_port.data().isBle || selected_port.data().isTcp || selected_port.data().isUdp) {
+        if (selected_port.data().isDFU || selected_port.data().isBle || selected_port.data().isTcp || selected_port.data().isUdp || selected_port.data().isSitl) {
             $baud.hide();
         }
         else {
             $baud.show();
         }        
 
-        if (selected_port.data().isBle || selected_port.data().isTcp || selected_port.data().isUdp) {
+        if (selected_port.data().isBle || selected_port.data().isTcp || selected_port.data().isUdp || selected_port.data().isSitl) {
             $('.tab_firmware_flasher').hide();
         } else {
             $('.tab_firmware_flasher').show();
         }
         var type = ConnectionType.Serial;
         if (selected_port.data().isBle) {
             type = ConnectionType.BLE;
-        } else if (selected_port.data().isTcp) {
+        } else if (selected_port.data().isTcp || selected_port.data().isSitl) {
             type = ConnectionType.TCP;
         } else if (selected_port.data().isUdp) {
             type = ConnectionType.UDP;
@@ -150,10 +151,24 @@ $(document).ready(function () {
 
                     if (selected_port == 'tcp' || selected_port == 'udp') {
                         CONFIGURATOR.connection.connect($portOverride.val(), {}, onOpen);
+                    } else if (selected_port == 'sitl') {
+                        CONFIGURATOR.connection.connect("127.0.0.1:5760", {}, onOpen);
+                    } else if (selected_port == 'sitl-demo') {
+                        if (SITLProcess.isRunning) {
+                            SITLProcess.stop();
+                        }
+                        SITLProcess.start("demo.bin");
+                        this.isDemoRunning = true;
+                        CONFIGURATOR.connection.connect("127.0.0.1:5760", {}, onOpen);
                     } else {
                         CONFIGURATOR.connection.connect(selected_port, {bitrate: selected_baud}, onOpen);
                     }
                 } else {
+                     if (this.isDemoRunning) {
+                        SITLProcess.stop();
+                        this.isDemoRunning = false;
+                     }
+
                     var wasConnected = CONFIGURATOR.connectionValid;
 
                     helper.timeout.killAll();