dev/source/docs/MATLAB-Serial-driver.rst - master - Sangak/ardupilot_wiki

dev/source/docs/MATLAB-Serial-driver.rst
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Christian Clauss
Fix typos discovered by codespell
20 фев 2026, 20:02
20 фев 2026, 20:0239349eb
.. _MATLAB-Serial-driver:

==============================
MATLAB Serial driver testing
==============================

The TCP/UDP/IP Toolbox can also be used to interact directly with SITL serial ports. This allows MATLAB to be used to replicate 
a sensor protocol fore testing and debugging ArduPilot drivers. Unlike previous examples TCP is used and two way communication is 
possible. By default SITL uses ports 5760 to 5763 for serial ports 0 to 3. The appropriate SERIALx_PROTOCOL parameter should 
be set to the driver being tested, baud rate is not used. Such a MATLAB tool greatly speeds up development of drivers 
removing the need to flash and test on real hardware.

This is a example used to send a NMEA string from simulated water speed sensor:

::

  clc
  clear

  % This is a example of using MATLAB to test a sensor drive using TCP
  % we send a NMEA messages at 1hz, note that this assumes that SITL is
  % running at real time.

  % NMEA is a basic one way protocol but more complex protocols can be
  % implemented in the same way

  % Use the same TCP/UDP libbary that is used for MALTAB SITL
  addpath(genpath('../../SITL/examples/JSON/MATLAB/tcp_udp_ip_2.0.6'))

  % if this doesn't work try the MALTAB SITL example first
  pnet('closeall')

  % Init the TCP port, 5763 is serial 2
  u = pnet('tcpconnect','127.0.0.1',5763);

  flipflop = true;
  while(true)

      if flipflop
          % send MTW temp message
          water_temp = 10 + randn();
          NMEA_string = sprintf('$YXMTW,%0.1f,C',water_temp);
      else 
          % send VHW speed message
          water_speed_knots = 5 + randn()*2;
          water_speed_kph = water_speed_knots * 1.852;
          NMEA_string = sprintf('$VWVHW,,T,,M,%0.1f,N,%0.1f,F',water_speed_knots,water_speed_kph);
      end
      flipflop = ~flipflop;

      % Calculate the correct checksum
      NMEA_string = add_checksum(NMEA_string);

      % send to ap
      pnet(u,'printf',sprintf('%s\r\n',NMEA_string));
      pnet(u,'writepacket');

      % also print to MATLAB console
      fprintf("%s\n",NMEA_string);

      % 1hz (ish)
      pause(1);
  end

  function NMEA_string_out = add_checksum(NMEA_string_in)  
      checksum = uint8(0);
      for i = 2:numel(NMEA_string_in)
          checksum = bitxor(checksum,uint8(NMEA_string_in(i)),'uint8');
      end
      NMEA_string_out = sprintf('%s*%s',NMEA_string_in,dec2hex(checksum));
  end