6a075b2556
1. Kill all running Copter binaries while exiting 2. Set default GCS IP address 3. Fix mcast ip address for different platforms 4. Set variable for number of vehicles
80 lines
2.1 KiB
Bash
Executable File
80 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 http://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,$ROOTDIR/libraries/SITL/examples/Airsim/quadX.parm"
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[ -x "$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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