ardupilot/libraries/SITL/examples/Airsim/follow-copter.sh

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