mirror of https://github.com/ArduPilot/ardupilot
111 lines
3.0 KiB
Bash
Executable File
111 lines
3.0 KiB
Bash
Executable File
#!/bin/bash
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# Usage - From ardupilot root directory, run - libraries/SITL/examples/follow-copter.sh $GCS_IP
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# $GCS_IP is the IP address of the system running the GCs, by default is 127.0.0.1
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# Use "follow-mavproxy.sh" to run MAVProxy with all vehicles
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# Or connect your GCS using multicast UDP
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# If you can't use multicast, you can connect via UDP on vehicle 1, which will relay telemetry
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# from the other vehicles
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# Kill all SITL binaries when exiting
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trap "killall -9 arducopter" SIGINT SIGTERM EXIT
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# Get the ArduPilot directory (ROOTDIR)
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
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ROOTDIR="$(dirname "$(dirname "$(dirname $SCRIPT_DIR)")")"
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COPTER=$ROOTDIR/build/sitl/bin/arducopter
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# Drones will be located here
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HOMELAT=-35.280252
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HOMELONG=149.005821
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HOMEALT=597.3
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# Set GCS_IP address
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if [ -z $1 ]; then
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GCS_IP="127.0.0.1"
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else
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GCS_IP=$1
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fi
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# Check if SITL copter has been built
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if [ -f "$COPTER" ]
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then
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echo "Found SITL executable"
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else
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echo "SITL executable not found ($COPTER). Exiting"
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exit
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fi
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# Check if Platform is Native Linux, WSL or Cygwin
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# Needed for correct multicast addressing
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unameOut="$(uname -s)"
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if [ "$(expr substr $unameOut 1 5)" == "Linux" ]; then
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# Check for WSL
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if grep -q Microsoft /proc/version; then
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MCAST_IP_PORT="127.0.0.1:14550"
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# Native Linux
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else
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MCAST_IP_PORT="" # Use default IP, port
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fi
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elif [ "$(expr substr $unameOut 1 6)" == "CYGWIN" ]; then
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MCAST_IP_PORT="0.0.0.0:14550"
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fi
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BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm"
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[ -x "$COPTER" ] || {
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./waf configure --board sitl
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./waf copter
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}
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# Set number of extra copters to be simulated, change this for increasing the count
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NCOPTERS="4"
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# start up main (leader) copter in the subdir (copter1)
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echo "Starting copter 1"
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mkdir -p copter1
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# create default parameter file for the leader
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cat <<EOF > copter1/leader.parm
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SYSID_THISMAV 1
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AUTO_OPTIONS 7
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EOF
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pushd copter1
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$COPTER --model quad --home=$HOMELAT,$HOMELONG,$HOMEALT,0 --uartA udpclient:$GCS_IP --uartC mcast:$MCAST_IP_PORT --defaults $BASE_DEFAULTS,leader.parm &
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popd
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# now start other copters to follow the first, using
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# a separate directory to keep the eeprom.bin and logs separate
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# each copter will have an offset starting location (5*SYSID,5*SYSID)m from leader copter
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# each copter will follow at SYSID*5m in X dir from leader
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for i in $(seq $NCOPTERS); do
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SYSID=$(expr $i + 1)
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echo "Starting copter $SYSID"
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mkdir -p copter$SYSID
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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 $(echo "-5*$i" | bc -l)
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FOLL_OFS_TYPE 1
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FOLL_SYSID 1
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FOLL_DIST_MAX 1000
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FOLL_YAW_BEHAVE 2
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FOLL_ALT_TYPE 1
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AUTO_OPTIONS 7
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EOF
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pushd copter$i
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LAT=$(echo "$HOMELAT + 0.0005*$i" | bc -l)
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LONG=$(echo "$HOMELONG + 0.0005*$i" | bc -l)
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$COPTER --model quad --home=$LAT,$LONG,$HOMEALT,0 --uartA tcp:0 --uartC mcast:$MCAST_IP_PORT --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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