Next is a 6Dof Simulation Platform. It is ported from Modeling INS/GPS/Star-Tracker in 6 DoF: Simulating NGC of a Three-Stage Rocket Booster in CADAC++

The aim is to provide to verify flight software, and delivery accuracy hardware-in-the-loop and flight testing.

Getting Started

0. Clone the Repo and sub repo

$ git clone --recursive https://github.com/octoberskyTW/Next-simulation.git

1. Dependencies

• GCC 5.4 up
• Python 2.7
• cpplint

$ sudo apt-get install htop cmake vim tree git-core libopenblas-dev libboost-dev libboost-all-dev bison curl flex python-pip
$ pip install cpplint

2. Third-Party Installation

• NASA Trick 17.0.5
  • Official Github NASA/trick

  $ sudo apt-get install bison curl flex g++ libx11-dev libxml2-dev libxt-dev \
           libmotif-common libmotif-dev make openjdk-8-jdk python2.7-dev swig \
           zlib1g-dev llvm llvm-dev clang libclang-dev libudunits2-dev
  $ cd Next-simulation/third-party/trick
  $ ./configure
  $ make
  $ sudo make install
  

• Armadillo Matrix Library-9.100.6
  • Official Github Armadillo

  $ cd Next-simulation/third-party/armadillo
  $ ./configure
  $ make
  $ sudo make install
  

• Redis Server Memory Database-5.0.2
  • Redis Official

  $ cd Next-simulation/third-party/redis
  $ tar -Jxvf redis-5.0.2.tar.gz
  $ cd redis-5.0.2
  $ make
  $ sudo make install
  

  • hiredis Official

  $ cd Next-simulation/third-party/hiredis
  $ make all
  $ sudo make install
  

3. Build and Run a SIL Simulation

$ cd Next-simulation/exe/SIL/master
$ ./SIL.sh

Type of Simulation

These simulation as different S_defines resides in exe/ directory.

• SIL : Software in the loop
• PIL : Processor in the loop
• HIL : Hardware in the loop

Building + Running

Golden Model

Execuate the SIL Mater+Slave

    cd exe/SIL/master
    ./SIL.sh

Execuate the PIL Master

    cd exe/PIL/master
    ./Deploy_EGSE_PIL.sh

Execuate the HIL Master

    cd exe/HIL/master
    ./Deploy_EGSE_HIL.sh

Deep Clean HIL/PIL/SIL image, object files, .csv, log

   ./exe/deep_clean_exe.sh

Install The redis

cd third-party/redis
tar -zxvf redis-*.tar.gz -C ./
cd redis-*/src
make && make install

Tests

Automative testing

A auto-testing is preset and should be run every time change is applied. To run, at simulation root, issue:

    ./SIL.sh

which will build, execute and compare against golden data. Result will be displayed on screen.

The testing is based on average result relative error against golden data < 1E-5

Support Hardware List

GNSS 9000 Constellation Simulator (HIL Support)

• Spirent GSS9000 Official Site

iXBlue EVO30 Ratetable (HIL Support)

• https://www.ixblue.com/products/evo-30

Component Diagram

The UML of rocket components is in ./docs/Rocket.mdj Please use 'StarUML' to view it

Component Topology

With graphviz installed

cd docs
dot topology.dot -Tpng > topology.png

Then you can use a typical image viewer to view it.