#!/bin/bash # home location lat, lon, alt, heading LOCATION="CMAC" TRACKER_LOCATION="CMAC_PILOTSBOX" VEHICLE="" BUILD_TARGET="sitl" FRAME="" NUM_PROCS=1 # check the instance number to allow for multiple copies of the sim running at once INSTANCE=0 USE_VALGRIND=0 USE_GDB=0 USE_GDB_STOPPED=0 CLEAN_BUILD=0 START_ANTENNA_TRACKER=0 WIPE_EEPROM=0 REVERSE_THROTTLE=0 NO_REBUILD=0 START_HIL=0 TRACKER_ARGS="" usage() { cat <<EOF Usage: sim_vehicle.sh [options] [mavproxy_options] Options: -v VEHICLE vehicle type (ArduPlane, ArduCopter or APMrover2) vehicle type defaults to working directory -I INSTANCE instance of simulator (default 0) -V enable valgrind for memory access checking (very slow!) -G use gdb for debugging ardupilot -g use gdb for debugging ardupilot, but don't auto-start -T start an antenna tracker instance -A pass arguments to antenna tracker -t set antenna tracker start location -L select start location from Tools/autotest/locations.txt -c do a make clean before building -N don't rebuild before starting ardupilot -w wipe EEPROM and reload parameters -R reverse throttle in plane -f FRAME set aircraft frame type for copters can choose +, X, quad or octa for planes can choose elevon or vtail -j NUM_PROC number of processors to use during build (default 1) -H start HIL mavproxy_options: --map start with a map --console start with a status console --out DEST start MAVLink output to DEST Note: eeprom.bin in the starting directory contains the parameters for your simulated vehicle. Always start from the same directory. It is recommended that you start in the main vehicle directory for the vehicle you are simulating, for example, start in the ArduPlane directory to simulate ArduPlane EOF } # parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial while getopts ":I:VgGcj:TA:t:L:v:hwf:RNH" opt; do case $opt in v) VEHICLE=$OPTARG ;; I) INSTANCE=$OPTARG ;; V) USE_VALGRIND=1 ;; N) NO_REBUILD=1 ;; H) START_HIL=1 NO_REBUILD=1 ;; T) START_ANTENNA_TRACKER=1 ;; A) TRACKER_ARGS="$OPTARG" ;; R) REVERSE_THROTTLE=1 ;; G) USE_GDB=1 ;; g) USE_GDB=1 USE_GDB_STOPPED=1 ;; L) LOCATION="$OPTARG" ;; f) FRAME="$OPTARG" ;; t) TRACKER_LOCATION="$OPTARG" ;; c) CLEAN_BUILD=1 ;; j) NUM_PROCS=$OPTARG ;; w) WIPE_EEPROM=1 ;; h) usage exit 0 ;; \?) # allow other args to pass on to mavproxy break ;; :) echo "Option -$OPTARG requires an argument." >&2 usage exit 1 esac done shift $((OPTIND-1)) # kill existing copy if this is the '0' instance only kill_tasks() { [ "$INSTANCE" -eq "0" ] && { killall -q JSBSim lt-JSBSim ArduPlane.elf ArduCopter.elf APMrover2.elf AntennaTracker.elf pkill -f runsim.py pkill -f sim_tracker.py pkill -f sim_rover.py pkill -f sim_multicopter.py } } kill_tasks trap kill_tasks SIGINT # setup ports for this instance MAVLINK_PORT="tcp:127.0.0.1:"$((5760+10*$INSTANCE)) SIMIN_PORT="127.0.0.1:"$((5502+10*$INSTANCE)) SIMOUT_PORT="127.0.0.1:"$((5501+10*$INSTANCE)) FG_PORT="127.0.0.1:"$((5503+10*$INSTANCE)) set -x [ -z "$VEHICLE" ] && { VEHICLE=$(basename $PWD) } EXTRA_PARM="" EXTRA_SIM="" # modify build target based on copter frame type case $FRAME in +|quad) BUILD_TARGET="sitl" EXTRA_SIM="--frame=quad" ;; X) BUILD_TARGET="sitl" EXTRA_PARM="param set FRAME 1;" EXTRA_SIM="--frame=X" ;; octa) BUILD_TARGET="sitl-octa" EXTRA_SIM="--frame=octa" ;; elevon*) EXTRA_PARM="param set ELEVON_OUTPUT 4;" EXTRA_SIM="--elevon" ;; vtail) EXTRA_PARM="param set VTAIL_OUTPUT 4;" EXTRA_SIM="--vtail" ;; obc) BUILD_TARGET="sitl-obc" ;; "") ;; *) echo "Unknown frame type $FRAME" usage exit 1 ;; esac autotest=$(dirname $(readlink -e $0)) if [ $NO_REBUILD == 0 ]; then pushd $autotest/../../$VEHICLE || { echo "Failed to change to vehicle directory for $VEHICLE" usage exit 1 } if [ $CLEAN_BUILD == 1 ]; then make clean fi make $BUILD_TARGET -j$NUM_PROCS || { make clean make $BUILD_TARGET -j$NUM_PROCS } popd fi # get the location information SIMHOME=$(cat $autotest/locations.txt | grep -i "^$LOCATION=" | cut -d= -f2) [ -z "$SIMHOME" ] && { echo "Unknown location $LOCATION" usage exit 1 } echo "Starting up at $LOCATION : $SIMHOME" TRACKER_HOME=$(cat $autotest/locations.txt | grep -i "^$TRACKER_LOCATION=" | cut -d= -f2) [ -z "$TRACKER_HOME" ] && { echo "Unknown tracker location $TRACKER_LOCATION" usage exit 1 } if [ $START_ANTENNA_TRACKER == 1 ]; then pushd $autotest/../../AntennaTracker if [ $CLEAN_BUILD == 1 ]; then make clean fi make sitl -j$NUM_PROCS || { make clean make sitl -j$NUM_PROCS } TRACKER_INSTANCE=1 TRACKIN_PORT="127.0.0.1:"$((5502+10*$TRACKER_INSTANCE)) TRACKOUT_PORT="127.0.0.1:"$((5501+10*$TRACKER_INSTANCE)) TRACKER_UARTA="tcp:127.0.0.1:"$((5760+10*$TRACKER_INSTANCE)) cmd="nice /tmp/AntennaTracker.build/AntennaTracker.elf -I1" $autotest/run_in_terminal_window.sh "AntennaTracker" $cmd || exit 1 $autotest/run_in_terminal_window.sh "pysim(Tracker)" nice $autotest/pysim/sim_tracker.py --home=$TRACKER_HOME --simin=$TRACKIN_PORT --simout=$TRACKOUT_PORT $TRACKER_ARGS || exit 1 popd fi cmd="/tmp/$VEHICLE.build/$VEHICLE.elf -I$INSTANCE" if [ $WIPE_EEPROM == 1 ]; then cmd="$cmd -w" fi case $VEHICLE in ArduPlane) [ "$REVERSE_THROTTLE" == 1 ] && { EXTRA_SIM="$EXTRA_SIM --revthr" } RUNSIM="nice $autotest/jsbsim/runsim.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM" PARMS="ArduPlane.parm" if [ $WIPE_EEPROM == 1 ]; then cmd="$cmd -PFORMAT_VERSION=13 -PSKIP_GYRO_CAL=1 -PRC3_MIN=1000 -PRC3_TRIM=1000" fi ;; ArduCopter) RUNSIM="nice $autotest/pysim/sim_multicopter.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM" PARMS="copter_params.parm" ;; APMrover2) RUNSIM="nice $autotest/pysim/sim_rover.py --home=$SIMHOME --rate=400 $EXTRA_SIM" PARMS="Rover.parm" ;; *) echo "Unknown vehicle simulation type $VEHICLE - please specify vehicle using -v VEHICLE_TYPE" usage exit 1 ;; esac if [ $START_HIL == 0 ]; then if [ $USE_VALGRIND == 1 ]; then echo "Using valgrind" $autotest/run_in_terminal_window.sh "ardupilot (valgrind)" valgrind $cmd || exit 1 elif [ $USE_GDB == 1 ]; then echo "Using gdb" tfile=$(mktemp) [ $USE_GDB_STOPPED == 0 ] && { echo r > $tfile } $autotest/run_in_terminal_window.sh "ardupilot (gdb)" gdb -x $tfile --args $cmd || exit 1 else $autotest/run_in_terminal_window.sh "ardupilot" $cmd || exit 1 fi fi trap kill_tasks SIGINT sleep 2 rm -f $tfile $autotest/run_in_terminal_window.sh "Simulator" $RUNSIM || { echo "Failed to start simulator: $RUNSIM" exit 1 } sleep 2 # 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 options="" if [ $START_HIL == 0 ]; then options="--master $MAVLINK_PORT --sitl $SIMOUT_PORT" fi options="$options --out 127.0.0.1:14550 --out 127.0.0.1:14551" extra_cmd1="" if [ $WIPE_EEPROM == 1 ]; then extra_cmd="param forceload $autotest/$PARMS; $EXTRA_PARM; param fetch" fi if [ $START_ANTENNA_TRACKER == 1 ]; then options="$options --load-module=tracker" extra_cmd="$extra_cmd module load map; tracker set port $TRACKER_UARTA; tracker start;" fi if [ $START_HIL == 1 ]; then options="$options --load-module=HIL" fi mavproxy.py $options --cmd="$extra_cmd" $* kill_tasks