Can sim_multicopter.py simulate flight?

[Anton Storozhev]

Hi guys,

I'm trying to set up ArduCopter SITL.

I run this commands:

make sitl 
gnome-terminal -e '/tmp/ArduCopter.build/ArduCopter.elf -I0'
gnome-terminal -e '../Tools/autotest/pysim/sim_multicopter.py --home=60.0876,30.42118,28.47,0'

and then connect to the running program with MissionPlanner.

Then I plan a mission, load it into Copter and try to make it fly but it stands on site without any movements.

Any suggestions to make it fly?

[Ben Nizette]

Hi Anton,

Use the Tools/autotest/sim_vehicle.sh script to start SITL. The step you're missing there is running MAVProxy with the right --master --out and --sitl options to wire all the ports together; you can start it yourself if you wish but really the best thing is just to use that script.  Note that MAVProxy is required regardless of whether or not you will use it as the primary GCS.

If you want to connect Mission Planner then you'll need to specify another --out option to sim_vehicle, probably --out=127.0.0.1:14550.

Ben.

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[Anton Storozhev]

Thanks, Ben, it worked!

BTW, I changed sim_xxx.sh script by adding & to commands (eg. 'gnome-terminal -e "../Tools/autotest/pysim/sim_multicopter.py --frame=$frame --home=-35.362938,149.165085,584,270" &') in order to run it in background so script was able to continue its execution and all of the required programs started.

Finally, I connected to simulator with Mission Planner and did some flying with joystick. :)

четверг, 29 мая 2014 г., 3:15:58 UTC+4 пользователь Ben Nizette написал: