软件在环仿真
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软件在环 (Software-in-loop, SIL) 仿真是将源码进行编译并运行在电脑主机端，为系统功能或控制策略的开发和测试提供实用的虚拟仿真环境，同时也省去了购买硬件的成本。
FMT 的 SIL 环境是基于 QEMU 构建的。通过QEMU模拟的硬件平台(vexpress-a9)来让 FMT 运行在主机端，因为QEMU是跨平台的，所以基于QEMU实现的SIL可以运行在Windows，Linux和MacOS等。
如果没有安装过QEMU，需要先下载QEMU，可以去官网进行下载。下载安装完成之后，进入
FMT-Firmware/target/qemu/qemu-vexpress-a9目录，然后编译固件jiachi@jc-laptop:~/src/FMT-Autopilot/FMT-Firmware/target/qemu/qemu-vexpress-a9$ scons -j4 scons: Reading SConscript files ... b'' scons: done reading SConscript files. scons: Building targets ... scons: building associated VariantDir targets: build CC build/board/board.o CC build/drivers/drv_sdio.o ...... CC build/kernel/components/libc/compilers/newlib/stdio.o CC build/kernel/components/libc/compilers/newlib/syscalls.o LINK build/fmt_fmu.elf arm-none-eabi-objcopy -O binary build/fmt_fmu.elf build/fmt_fmu.bin arm-none-eabi-size build/fmt_fmu.elf text data bss dec hex filename 1139824 28980 143256 1312060 14053c build/fmt_fmu.elf scons: done building targets. -
编译完成后，首先打开QGC地面站，然后再运行
qemu.sh（Windows平台则运行qemu.bat），如下所示jiachi@jc-laptop:~/src/FMT-Autopilot/FMT-Firmware/target/qemu/qemu-vexpress-a9$ ./qemu.sh WARNING: Image format was not specified for 'sd.bin' and probing guessed raw. Automatically detecting the format is dangerous for raw images, write operations on block 0 will be restricted. Specify the 'raw' format explicitly to remove the restrictions. pulseaudio: set_sink_input_volume() failed pulseaudio: Reason: Invalid argument pulseaudio: set_sink_input_mute() failed pulseaudio: Reason: Invalid argument [I/SDIO] SD card capacity 65536 KB. [I/SDIO] switching card to high speed failed! can not load /sys/sih_param.xml, use default parameter value. TOML: fail to open file: /sys/sysconfig.toml _____ __ / __(_)_____ _ ___ ___ _ ___ ___ / /_ / _// / __/ ' \/ _ `/ ' \/ -_) _ \/ __/ /_/ /_/_/ /_/_/_/\_,_/_/_/_/\__/_//_/\__/ Firmware..................FMT FW v0.3.0-rc Kernel....................RT-Thread v4.0.3 RAM................................8192 KB Target....................QEMU vexpress-a9 Vehicle.........................Quadcopter INS Model..................Base INS v0.2.1 FMS Model..................Base FMS v0.3.2 Control Model.......Base Controller v0.2.1 Plant Model.............Multicopter v0.2.1 Task Initialize: local.................................OK comm..................................OK logger................................OK status................................OK vehicle...............................OK [1074] I/StatusTask: SIH Simulation Hello FMT!提示：
对于Windows平台，在第一次通过QEMU启动FMT时，文件系统可能没有正常格式化，可以在控制台输入`mkfs sd0`指令来对文件系统进行格式化。 -
这时切到地面站，地面站应该也已经正常连接上飞控。恭喜，到这一步基于QEMU的SIL仿真已经运行起来了。
