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75 lines
1.9 KiB
75 lines
1.9 KiB
#!/bin/bash |
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# Usage - From ardupilot root directory, run - libraries/SITL/examples/follow-copter.sh $GCS_IP |
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# $GCS_IP is the IP address of the system running the GCs, by default is 127.0.0.1 |
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# mavproxy --master mcast: |
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# Kill all SITL binaries when exiting |
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trap "killall -9 arducopter" SIGINT SIGTERM EXIT |
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# assume we start the script from the root directory |
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ROOTDIR=$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" |
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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 quad --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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$COPTER --model quad --uartA tcp:0 --uartC mcast:$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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