mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 23:48:31 -04:00
d4e9418ad4
this prevents problems on windows with virtualbox. It tries to run JSBSim as the directory 'jsbsim' and fails
407 lines
10 KiB
Bash
Executable File
407 lines
10 KiB
Bash
Executable File
#!/bin/bash
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# home location lat, lon, alt, heading
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LOCATION="CMAC"
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TRACKER_LOCATION="CMAC_PILOTSBOX"
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VEHICLE=""
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BUILD_TARGET="sitl"
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FRAME=""
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NUM_PROCS=1
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SPEEDUP="1"
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# check the instance number to allow for multiple copies of the sim running at once
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INSTANCE=0
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USE_VALGRIND=0
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USE_GDB=0
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USE_GDB_STOPPED=0
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USE_MAVLINK_GIMBAL=0
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CLEAN_BUILD=0
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START_ANTENNA_TRACKER=0
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WIPE_EEPROM=0
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REVERSE_THROTTLE=0
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NO_REBUILD=0
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START_HIL=0
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TRACKER_ARGS=""
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EXTERNAL_SIM=0
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usage()
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{
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cat <<EOF
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Usage: sim_vehicle.sh [options] [mavproxy_options]
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Options:
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-v VEHICLE vehicle type (ArduPlane, ArduCopter or APMrover2)
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vehicle type defaults to working directory
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-I INSTANCE instance of simulator (default 0)
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-V enable valgrind for memory access checking (very slow!)
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-G use gdb for debugging ardupilot
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-g use gdb for debugging ardupilot, but don't auto-start
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-T start an antenna tracker instance
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-A pass arguments to antenna tracker
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-t set antenna tracker start location
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-L select start location from Tools/autotest/locations.txt
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-c do a make clean before building
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-N don't rebuild before starting ardupilot
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-w wipe EEPROM and reload parameters
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-R reverse throttle in plane
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-f FRAME set aircraft frame type
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for copters can choose +, X, quad or octa
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for planes can choose elevon or vtail
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-j NUM_PROC number of processors to use during build (default 1)
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-H start HIL
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-e use external simulator
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-S SPEEDUP set simulation speedup (1 for wall clock time)
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mavproxy_options:
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--map start with a map
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--console start with a status console
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--out DEST start MAVLink output to DEST
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Note:
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eeprom.bin in the starting directory contains the parameters for your
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simulated vehicle. Always start from the same directory. It is recommended that
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you start in the main vehicle directory for the vehicle you are simulating,
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for example, start in the ArduPlane directory to simulate ArduPlane
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EOF
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}
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# parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial
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while getopts ":I:VgGcj:TA:t:L:v:hwf:RNHeMS:" opt; do
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case $opt in
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v)
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VEHICLE=$OPTARG
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;;
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I)
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INSTANCE=$OPTARG
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;;
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V)
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USE_VALGRIND=1
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;;
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N)
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NO_REBUILD=1
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;;
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H)
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START_HIL=1
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NO_REBUILD=1
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;;
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T)
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START_ANTENNA_TRACKER=1
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;;
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A)
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TRACKER_ARGS="$OPTARG"
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;;
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R)
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REVERSE_THROTTLE=1
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;;
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G)
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USE_GDB=1
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;;
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M)
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USE_MAVLINK_GIMBAL=1
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;;
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g)
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USE_GDB=1
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USE_GDB_STOPPED=1
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;;
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L)
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LOCATION="$OPTARG"
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;;
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f)
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FRAME="$OPTARG"
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;;
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S)
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SPEEDUP="$OPTARG"
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;;
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t)
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TRACKER_LOCATION="$OPTARG"
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;;
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c)
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CLEAN_BUILD=1
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;;
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j)
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NUM_PROCS=$OPTARG
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;;
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w)
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WIPE_EEPROM=1
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;;
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e)
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EXTERNAL_SIM=1
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;;
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h)
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usage
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exit 0
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;;
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\?)
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# allow other args to pass on to mavproxy
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break
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;;
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:)
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echo "Option -$OPTARG requires an argument." >&2
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usage
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exit 1
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esac
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done
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shift $((OPTIND-1))
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# kill existing copy if this is the '0' instance only
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kill_tasks()
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{
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[ "$INSTANCE" -eq "0" ] && {
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killall -q JSBSim lt-JSBSim ArduPlane.elf ArduCopter.elf APMrover2.elf AntennaTracker.elf
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pkill -f runsim.py
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pkill -f sim_tracker.py
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pkill -f sim_rover.py
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pkill -f sim_multicopter.py
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}
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}
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if [ $START_HIL == 0 ]; then
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kill_tasks
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fi
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trap kill_tasks SIGINT
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# setup ports for this instance
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MAVLINK_PORT="tcp:127.0.0.1:"$((5760+10*$INSTANCE))
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SIMIN_PORT="127.0.0.1:"$((5502+10*$INSTANCE))
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SIMOUT_PORT="127.0.0.1:"$((5501+10*$INSTANCE))
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FG_PORT="127.0.0.1:"$((5503+10*$INSTANCE))
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set -x
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[ -z "$VEHICLE" ] && {
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VEHICLE=$(basename $PWD)
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}
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EXTRA_PARM=""
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EXTRA_SIM=""
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[ "$SPEEDUP" != "1" ] && {
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EXTRA_SIM="$EXTRA_SIM --speedup=$SPEEDUP"
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}
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# modify build target based on copter frame type
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case $FRAME in
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+|quad)
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BUILD_TARGET="sitl"
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EXTRA_SIM="$EXTRA_SIM --frame=quad"
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;;
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X)
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BUILD_TARGET="sitl"
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EXTRA_PARM="param set FRAME 1;"
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EXTRA_SIM="$EXTRA_SIM --frame=X"
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;;
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octa)
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BUILD_TARGET="sitl-octa"
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EXTRA_SIM="$EXTRA_SIM --frame=octa"
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;;
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octa-quad)
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BUILD_TARGET="sitl-octa-quad"
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EXTRA_SIM="$EXTRA_SIM --frame=octa-quad"
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;;
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heli)
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BUILD_TARGET="sitl-heli"
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EXTRA_SIM="$EXTRA_SIM --frame=heli"
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;;
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IrisRos)
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BUILD_TARGET="sitl"
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EXTRA_SIM="$EXTRA_SIM --frame=IrisRos"
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;;
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elevon*)
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EXTRA_PARM="param set ELEVON_OUTPUT 4;"
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EXTRA_SIM="$EXTRA_SIM --elevon"
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;;
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vtail)
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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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;;
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obc)
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BUILD_TARGET="sitl-obc"
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;;
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"")
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;;
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*)
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echo "Unknown frame type $FRAME"
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usage
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exit 1
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;;
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esac
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if [ $USE_MAVLINK_GIMBAL == 1 ]; then
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echo "Using MAVLink gimbal"
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EXTRA_SIM="$EXTRA_SIM --gimbal"
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fi
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autotest=$(dirname $(readlink -e $0))
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if [ $NO_REBUILD == 0 ]; then
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pushd $autotest/../../$VEHICLE || {
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echo "Failed to change to vehicle directory for $VEHICLE"
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usage
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exit 1
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}
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if [ ! -f $autotest/../../config.mk ]; then
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echo Generating a default configuration
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make configure
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fi
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if [ $CLEAN_BUILD == 1 ]; then
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make clean
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fi
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make $BUILD_TARGET -j$NUM_PROCS || {
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make clean
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make $BUILD_TARGET -j$NUM_PROCS
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}
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popd
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fi
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# get the location information
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SIMHOME=$(cat $autotest/locations.txt | grep -i "^$LOCATION=" | cut -d= -f2)
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[ -z "$SIMHOME" ] && {
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echo "Unknown location $LOCATION"
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usage
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exit 1
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}
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echo "Starting up at $LOCATION : $SIMHOME"
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TRACKER_HOME=$(cat $autotest/locations.txt | grep -i "^$TRACKER_LOCATION=" | cut -d= -f2)
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[ -z "$TRACKER_HOME" ] && {
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echo "Unknown tracker location $TRACKER_LOCATION"
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usage
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exit 1
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}
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if [ $START_ANTENNA_TRACKER == 1 ]; then
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pushd $autotest/../../AntennaTracker
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if [ $CLEAN_BUILD == 1 ]; then
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make clean
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fi
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make sitl -j$NUM_PROCS || {
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make clean
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make sitl -j$NUM_PROCS
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}
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TRACKER_INSTANCE=1
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TRACKIN_PORT="127.0.0.1:"$((5502+10*$TRACKER_INSTANCE))
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TRACKOUT_PORT="127.0.0.1:"$((5501+10*$TRACKER_INSTANCE))
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TRACKER_UARTA="tcp:127.0.0.1:"$((5760+10*$TRACKER_INSTANCE))
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cmd="nice /tmp/AntennaTracker.build/AntennaTracker.elf -I1"
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$autotest/run_in_terminal_window.sh "AntennaTracker" $cmd || exit 1
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$autotest/run_in_terminal_window.sh "pysim(Tracker)" nice $autotest/pysim/sim_tracker.py --home=$TRACKER_HOME --simin=$TRACKIN_PORT --simout=$TRACKOUT_PORT $TRACKER_ARGS || exit 1
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popd
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fi
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cmd="/tmp/$VEHICLE.build/$VEHICLE.elf -I$INSTANCE"
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if [ $WIPE_EEPROM == 1 ]; then
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cmd="$cmd -w"
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fi
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case $VEHICLE in
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ArduPlane)
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[ "$REVERSE_THROTTLE" == 1 ] && {
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EXTRA_SIM="$EXTRA_SIM --revthr"
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}
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jsbsim_version=$(JSBSim --version)
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if [[ $jsbsim_version != *"ArduPilot"* ]]
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then
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cat <<EOF
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=========================================================
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You need the latest ArduPilot version of JSBSim installed
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and in your \$PATH
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Please get it from git://github.com/tridge/jsbsim.git
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See
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http://dev.ardupilot.com/wiki/simulation-2/sitl-simulator-software-in-the-loop/setting-up-sitl-on-linux/
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for more details
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=========================================================
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EOF
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exit 1
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fi
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RUNSIM="nice $autotest/jsb_sim/runsim.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"
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PARMS="ArduPlane.parm"
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if [ $WIPE_EEPROM == 1 ]; then
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cmd="$cmd -PFORMAT_VERSION=13 -PSKIP_GYRO_CAL=1 -PRC3_MIN=1000 -PRC3_TRIM=1000"
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fi
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;;
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ArduCopter)
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RUNSIM="nice $autotest/pysim/sim_multicopter.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"
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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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PARMS="Rover.parm"
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;;
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*)
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echo "Unknown vehicle simulation type $VEHICLE - please specify vehicle using -v VEHICLE_TYPE"
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usage
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exit 1
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;;
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esac
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if [ $START_HIL == 0 ]; then
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if [ $USE_VALGRIND == 1 ]; then
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echo "Using valgrind"
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$autotest/run_in_terminal_window.sh "ardupilot (valgrind)" valgrind $cmd || exit 1
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elif [ $USE_GDB == 1 ]; then
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echo "Using gdb"
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tfile=$(mktemp)
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[ $USE_GDB_STOPPED == 0 ] && {
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echo r >> $tfile
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}
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$autotest/run_in_terminal_window.sh "ardupilot (gdb)" gdb -x $tfile --args $cmd || exit 1
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else
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$autotest/run_in_terminal_window.sh "ardupilot" $cmd || exit 1
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fi
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fi
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trap kill_tasks SIGINT
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sleep 2
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rm -f $tfile
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if [ $EXTERNAL_SIM == 0 ]; then
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$autotest/run_in_terminal_window.sh "Simulator" $RUNSIM || {
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echo "Failed to start simulator: $RUNSIM"
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exit 1
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}
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sleep 2
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else
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echo "Using external ROS simulator"
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RUNSIM="$autotest/ROS/runsim.py --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"
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$autotest/run_in_terminal_window.sh "ROS Simulator" $RUNSIM || {
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echo "Failed to start simulator: $RUNSIM"
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exit 1
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}
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sleep 2
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fi
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# mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551
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options=""
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if [ $START_HIL == 0 ]; then
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options="--master $MAVLINK_PORT --sitl $SIMOUT_PORT"
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fi
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# If running inside of a vagrant guest, then we probably want to forward our mavlink out to the containing host OS
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if [ $USER == "vagrant" ]; then
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options="$options --out 10.0.2.2:14550"
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fi
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options="$options --out 127.0.0.1:14550 --out 127.0.0.1:14551"
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extra_cmd1=""
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if [ $WIPE_EEPROM == 1 ]; then
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extra_cmd="param forceload $autotest/$PARMS; $EXTRA_PARM; param fetch"
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fi
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if [ $START_ANTENNA_TRACKER == 1 ]; then
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options="$options --load-module=tracker"
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extra_cmd="$extra_cmd module load map; tracker set port $TRACKER_UARTA; tracker start;"
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fi
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if [ $START_HIL == 1 ]; then
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options="$options --load-module=HIL"
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fi
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if [ $USE_MAVLINK_GIMBAL == 1 ]; then
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options="$options --load-module=gimbal"
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fi
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mavproxy.py $options --cmd="$extra_cmd" $*
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if [ $START_HIL == 0 ]; then
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kill_tasks
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fi
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