mirror of https://github.com/ArduPilot/ardupilot
autotest: convert rover sim to use sim_wrapper.py
This commit is contained in:
Andrew Tridgell
parent
dbeaccc3d9
commit
ffd4662ec4
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@ -11,6 +11,7 @@ from rotmat import Vector3, Matrix3
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class Rover(Aircraft):
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'''a simple rover'''
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def __init__(self,
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frame='',
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max_speed=20,
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max_accel=30,
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wheelbase=0.335,
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@ -72,17 +73,17 @@ class Rover(Aircraft):
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steer = 0.5 * lat_accel * mincircle / (speed**2)
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return steer * 35
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def update(self, state):
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def update(self, servos):
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# if in skid steering mode the steering and throttle values are used for motor1 and motor2
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if self.skid_steering:
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motor1 = state.steering # left motor
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motor2 = state.throttle # right motor
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motor1 = 2*(servos[0]-0.5)
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motor2 = 2*(servos[2]-0.5)
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steering = motor1 - motor2
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throttle = 0.5*(motor1 + motor2)
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else:
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steering = state.steering
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throttle = state.throttle
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steering = 2*(servos[0]-0.5)
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throttle = 2*(servos[2]-0.5)
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# how much time has passed?
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t = self.time_now
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@ -1,156 +0,0 @@
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#!/usr/bin/env python
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'''
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simple rover simulator
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'''
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from rover import Rover
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import util, time, os, sys, math
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import socket, struct
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import select, errno
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def sim_send(a):
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'''send flight information to mavproxy'''
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from math import degrees
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earth_rates = util.BodyRatesToEarthRates(a.dcm, a.gyro)
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(roll, pitch, yaw) = a.dcm.to_euler()
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timestamp = int((a.time_now - a.time_base) * 1e6)
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buf = struct.pack('<Q17dI',
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timestamp,
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a.latitude, a.longitude, a.altitude, degrees(yaw),
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a.velocity.x, a.velocity.y, a.velocity.z,
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a.accelerometer.x, a.accelerometer.y, a.accelerometer.z,
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degrees(earth_rates.x), degrees(earth_rates.y), degrees(earth_rates.z),
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degrees(roll), degrees(pitch), degrees(yaw),
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math.sqrt(a.velocity.x*a.velocity.x + a.velocity.y*a.velocity.y),
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0x4c56414f)
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try:
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sim_out.send(buf)
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except socket.error as e:
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if not e.errno in [ errno.ECONNREFUSED ]:
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raise
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def sim_recv(state):
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'''receive control information from SITL'''
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try:
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buf = sim_in.recv(28)
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except socket.error as e:
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print(e, e.error)
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if not e.errno in [ errno.EAGAIN, errno.EWOULDBLOCK ]:
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raise
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return
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if len(buf) != 28:
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print('len=%u' % len(buf))
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return
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control = list(struct.unpack('<14H', buf))
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pwm = control[0:11]
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# map steering and throttle to -1/1
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state.steering = (pwm[0]-1500)/500.0
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state.throttle = (pwm[2]-1500)/500.0
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#print("steering=%f throttle=%f pwm=%s" % (state.steering, state.throttle, str(pwm)))
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def interpret_address(addrstr):
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'''interpret a IP:port string'''
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a = addrstr.split(':')
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a[1] = int(a[1])
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return tuple(a)
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class ControlState:
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def __init__(self):
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# steering from -1 to 1, where -1 is left, 1 is right
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self.steering = 0
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# throttle from -1 to 1, where -1 is full reverse, 1 is full forward
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self.throttle = 0
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##################
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# main program
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from optparse import OptionParser
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parser = OptionParser("sim_rover.py [options]")
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parser.add_option("--simin", dest="simin", help="SIM input (IP:port)", default="127.0.0.1:5502")
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parser.add_option("--simout", dest="simout", help="SIM output (IP:port)", default="127.0.0.1:5501")
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parser.add_option("--home", dest="home", type='string', default=None, help="home lat,lng,alt,hdg (required)")
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parser.add_option("--rate", dest="rate", type='int', help="SIM update rate", default=1000)
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parser.add_option("--skid-steering", action='store_true', default=False, help="Use skid steering")
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parser.add_option("--speedup", type='float', default=1.0, help="speedup from realtime")
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(opts, args) = parser.parse_args()
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for m in [ 'home' ]:
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if not opts.__dict__[m]:
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print("Missing required option '%s'" % m)
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parser.print_help()
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sys.exit(1)
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# UDP socket addresses
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sim_out_address = interpret_address(opts.simout)
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sim_in_address = interpret_address(opts.simin)
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# setup input from SITL
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sim_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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sim_in.bind(sim_in_address)
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sim_in.setblocking(1)
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# setup output to SITL
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sim_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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sim_out.connect(sim_out_address)
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sim_out.setblocking(0)
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# create the quadcopter model
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a = Rover(skid_steering=opts.skid_steering)
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# initial controls state
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state = ControlState()
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# parse home
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v = opts.home.split(',')
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if len(v) != 4:
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print("home should be lat,lng,alt,hdg")
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sys.exit(1)
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a.home_latitude = float(v[0])
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a.home_longitude = float(v[1])
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a.home_altitude = float(v[2])
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a.altitude = a.home_altitude
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a.yaw = float(v[3])
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a.latitude = a.home_latitude
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a.longitude = a.home_longitude
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a.set_yaw_degrees(a.yaw)
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print("Starting at lat=%f lon=%f alt=%f heading=%.1f rate=%.1f" % (
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a.home_latitude,
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a.home_longitude,
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a.altitude,
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a.yaw,
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opts.rate))
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a.setup_frame_time(opts.rate, opts.speedup)
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counter = 0
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while True:
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# receive control input from SITL
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sim_recv(state)
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# update the model
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a.update(state)
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# send model state to SITL
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sim_send(a)
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a.sync_frame_time()
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a.time_advance(a.frame_time)
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counter += 1
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if counter == 1000:
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print("t=%f speedup=%.1f" % ((a.time_now - a.time_base), a.achieved_rate/a.rate))
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counter = 0
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@ -144,6 +144,10 @@ elif opts.frame.startswith('CRRCSim'):
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from crrcsim import CRRCSim
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a = CRRCSim(frame=opts.frame)
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frame_rate = 360
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elif opts.frame.startswith('rover'):
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from rover import Rover
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a = Rover(frame=opts.frame)
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frame_rate = 360
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else:
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from multicopter import MultiCopter
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a = MultiCopter(frame=opts.frame)
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@ -173,6 +173,10 @@ set -x
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VEHICLE=$(basename $PWD)
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}
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[ -z "$FRAME" -a "$VEHICLE" = "APMrover2" ] && {
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FRAME="rover"
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}
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EXTRA_PARM=""
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EXTRA_SIM=""
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@ -223,8 +227,8 @@ case $FRAME in
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EXTRA_PARM="param set VTAIL_OUTPUT 4;"
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EXTRA_SIM="$EXTRA_SIM --vtail"
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;;
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skid)
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EXTRA_SIM="$EXTRA_SIM --skid-steering"
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rover|rover-skid)
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EXTRA_SIM="$EXTRA_SIM --frame=$FRAME"
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;;
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obc)
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BUILD_TARGET="sitl-obc"
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@ -341,7 +345,7 @@ EOF
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PARMS="copter_params.parm"
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;;
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APMrover2)
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RUNSIM="nice $autotest/pysim/sim_rover.py --home=$SIMHOME --rate=400 $EXTRA_SIM"
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RUNSIM="nice $autotest/pysim/sim_wrapper.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"
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PARMS="Rover.parm"
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;;
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*)
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