Raspberry PI with droneapi/Mavproxy talking to PC Running SITL/Mavproxy

[Stephane Scherrer]

Hi all,

I want to setup a full SITL environment remote controller by a RPI running DroneAPI.

I have

1/ Raspberry PI running Dronekit over Mavproxy.py. This is loaded and working. Though I did not use any argument for launching Mavproxy for time being... The Raspberry is LAN Connected at 192.168.1.18 as mean of example

2/ a WIndows PC running SITL over/with Mavproxy using the sim_vehicle.sh script. This is loaded and working. PC is LAN connected at 192.168.1.4. I can command the drone with mavproxy command such as arm, ..etc... this is working but locally. On the PC, command "output" shows me 2 ports opened locally 127.0.0.1:14550 and 127.0.0.1:14551

Objective : I want to connect the RPI to the SITL so that

 a) I can retrieve all the simulated drone info (GPS, Altitude...)

 b) I can use the droneapi to run python scripts that will drive the simulator

At this stage I tried a bit everything I could following docs... but all failed. I tried as well running the SITL directly without Mavproxy on the PC and trying to establish cnx to RPI.. failed. I know the RPI Mavproxy can use --out command ? but directing to the PC I got cnx refused... Any guidance appreciated... I'm so close ...  ;)

Thanks !

[Jaime Machuca]

Hello Stephane,

I saw your email a few days ago but hadn’t had a chance to respond. The way I have done it is I start STIL on my Linux box with the following command:

sim_vehicle.sh --console --map —out=x.x.x.x:14550

where x.x.x.x is your RaspberryPi IP address.

Then on the Raspberry Start Mavproxy with the following command:

sudo mavproxy.py —master=udpin:0.0.0.0:14550

That will start Mavproxy and listen for the UDP packets.

I am not familiar with running SITL on windows, If you cannot start SITL with the command above, once it is running you can type on the SITL console this command to add the output:

output add x.x.x.x:14550

That should get you going.

Best regards,

Jaime Machuca Mercado

CTO | Droidika | www.Droidika.com

Mail. Ja...@Droidika.com

Tel. +52 (33) 3777 5327

Cel. +52 1 (33) 3945 3350

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[Stephane Scherrer]

UR GENIUS !!!

It just worked. I had tried over last few days without success...

Many thanks for this.

Now on to some droneapi stuff to try out... !!!

Brgds

Stephane

[Daniel Frenzel]

Just a question of interest. What is the purpose of a local MavProxy. 

The guide claims that with the current MissionPlanner a connection to the vehicle can be established (http://dev.ardupilot.com/wiki/companion-computers/raspberry-pi-via-mavlink/making-a-mavlink-wifi-bridge-using-the-raspberry-pi/). 

This was not possible before. Nevertheless, the whole system would work the same without MavProxy.

So what's the reason to use it?

[Daniel Frenzel]

Ah I got it. Probably Mavproxy is just binding the socket.