mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.1 KiB
Bash
Executable File
78 lines
2.1 KiB
Bash
Executable File
#!/bin/bash
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# Example script for multi-vehicle simulation with AirSim
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# see https://ardupilot.org/dev/docs/sitl-with-airsim.html#multi-vehicle-simulation for details
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# Usage - From ardupilot root directory, run - libraries/SITL/examples/Airsim/follow-copter.sh $GCS_IP
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# $GCS_IP is the IP address of the system running the GCs, by default is 127.0.0.1
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# Kill all SITL binaries when exiting
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trap "killall -9 arducopter" SIGINT SIGTERM EXIT
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# assume we start the script from the root directory
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ROOTDIR=$PWD
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COPTER=$ROOTDIR/build/sitl/bin/arducopter
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# 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=$1
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fi
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# Check if Platform is Native Linux, WSL or Cygwin
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# Needed for correct multicast addressing
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unameOut="$(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,$ROOTDIR/Tools/autotest/default_params/airsim-quadX.parm"
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[ -x "$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 copter in the current directory
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$COPTER --model airsim-copter --uartA udpclient:$GCS_IP --uartC mcast:$MCAST_IP_PORT --defaults $BASE_DEFAULTS &
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# Set number of extra copters to be simulated, change this for increasing the count
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NCOPTERS="1"
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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 i in $(seq $NCOPTERS); 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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$COPTER --model airsim-copter --uartA tcp:0 --uartC mcast:$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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