mirror of https://github.com/ArduPilot/ardupilot
43 lines
1.1 KiB
Bash
43 lines
1.1 KiB
Bash
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#!/bin/bash
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# assume we start the script from the root directory
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ROOTDIR=$PWD
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COPTER=$ROOTDIR/build/sitl/bin/arducopter
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GCS_IP=$1
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BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm,$ROOTDIR/libraries/SITL/examples/Airsim/quadX.parm"
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[ -x "$COPTER" ] || {
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./waf configure --board sitl
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./waf copter
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}
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# start up main rover in the current directory
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$COPTER --model airsim-copter --uartA udpclient:$GCS_IP --uartC mcast: --defaults $BASE_DEFAULTS &
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# now start another copter to follow the first, using
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# a separate directory to keep the eeprom.bin and logs separate
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# for increasing the number of copters, change the number in seq
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for i in $(seq 1); do
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echo "Starting copter $i"
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mkdir -p copter$i
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SYSID=$(expr $i + 1)
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FOLL_SYSID=$(expr $SYSID - 1)
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# create default parameter file for the follower
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cat <<EOF > copter$i/follow.parm
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SYSID_THISMAV $SYSID
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FOLL_ENABLE 1
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FOLL_OFS_X -5
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FOLL_OFS_TYPE 1
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FOLL_SYSID $FOLL_SYSID
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FOLL_DIST_MAX 1000
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EOF
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pushd copter$i
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$COPTER --model airsim-copter --uartA tcp:0 --uartC mcast: --instance $i --defaults $BASE_DEFAULTS,follow.parm &
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popd
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done
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wait
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