mirror of https://github.com/ArduPilot/ardupilot
76 lines
1.9 KiB
Bash
Executable File
76 lines
1.9 KiB
Bash
Executable File
#!/bin/bash
|
|
|
|
# Usage - From ardupilot root directory, run - libraries/SITL/examples/follow-copter.sh $GCS_IP
|
|
# $GCS_IP is the IP address of the system running the GCs, by default is 127.0.0.1
|
|
# mavproxy --master mcast:
|
|
|
|
# Kill all SITL binaries when exiting
|
|
trap "killall -9 arducopter" SIGINT SIGTERM EXIT
|
|
|
|
# assume we start the script from the root directory
|
|
ROOTDIR=$PWD
|
|
COPTER=$ROOTDIR/build/sitl/bin/arducopter
|
|
|
|
# Set GCS_IP address
|
|
if [ -z $1 ]; then
|
|
GCS_IP="127.0.0.1"
|
|
else
|
|
GCS_IP=$1
|
|
fi
|
|
|
|
# Check if Platform is Native Linux, WSL or Cygwin
|
|
# Needed for correct multicast addressing
|
|
unameOut="$(uname -s)"
|
|
|
|
if [ "$(expr substr $unameOut 1 5)" == "Linux" ]; then
|
|
# Check for WSL
|
|
if grep -q Microsoft /proc/version; then
|
|
MCAST_IP_PORT="127.0.0.1:14550"
|
|
|
|
# Native Linux
|
|
else
|
|
MCAST_IP_PORT="" # Use default IP, port
|
|
fi
|
|
|
|
elif [ "$(expr substr $unameOut 1 6)" == "CYGWIN" ]; then
|
|
MCAST_IP_PORT="0.0.0.0:14550"
|
|
fi
|
|
|
|
BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm"
|
|
|
|
[ -x "$COPTER" ] || {
|
|
./waf configure --board sitl
|
|
./waf copter
|
|
}
|
|
|
|
# start up main copter in the current directory
|
|
$COPTER --model quad --uartA udpclient:$GCS_IP --uartC mcast:$MCAST_IP_PORT --defaults $BASE_DEFAULTS &
|
|
|
|
# Set number of extra copters to be simulated, change this for increasing the count
|
|
NCOPTERS="1"
|
|
|
|
|
|
# now start another copter to follow the first, using
|
|
# a separate directory to keep the eeprom.bin and logs separate
|
|
for i in $(seq $NCOPTERS); 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
|
|
$COPTER --model quad --uartA tcp:0 --uartC mcast:$MCAST_IP_PORT --instance $i --defaults $BASE_DEFAULTS,follow.parm &
|
|
popd
|
|
done
|
|
wait
|