DroneKit-python入门教程教程-安装SITL(linux)

DroneKit-python入门教程教程-安装SITL(linux)

说明：

• 介绍如何在linux下安装DroneKit-sitl

Apt 安装步骤：

• 安装dronekit-sitl

pip install dronekit-sitl -UI

• 测试运行Copter

dronekit-sitl copter

• SITL会开始并等待其他设备通过TCP连接到127.0.0.1:5760
• 可以选择不同机型和版本，以及相关参数，位置等

dronekit-sitl plane-3.3.0 --home=-35.363261,149.165230,584,353

• 更多命令可以查看

dronekit-sitl -h            #List all parameters to dronekit-sitl.
dronekit-sitl copter -h     #List additional parameters for the specified vehicle (in this case "copter").
dronekit-sitl --list        #List all available vehicles.
dronekit-sitl --reset       #Delete all downloaded vehicle binaries.
dronekit-sitl ./path [args...]  #Start SITL instance at target file location.

• 可以通过DroneKit-Python脚本连接到SITL

vehicle = connect('tcp:127.0.0.1:5760', wait_ready=True)

• 想了解更多SITL的接口

源码安装SITL

• 安装依赖

sudo apt-get update
sudo apt-get install git
sudo apt-get install gitk git-gui

• 下载ardupilot

git clone https://github.com/your-github-userid/ardupilot
cd ardupilot
git submodule update --init --recursive

• 基于ubuntu环境，安装相关依赖

Tools/environment_install/install-prereqs-ubuntu.sh -y

• 重新加载环境变量

. ~/.profile

• 添加环境变量到bashrc

export PATH=$PATH:$HOME/ardupilot/Tools/autotest
export PATH=/usr/lib/ccache:$PATH

• 安装交叉编译工具

cd TARGET_DIR
tar -xjvf gcc-arm-none-eabi-4_9-2015q3-20150921-linux.tar.bz2

export PATH=$PATH:TARGET_DIR/gcc-arm-none-eabi-4_9-2015q3/bin

sudo apt-get install ccache

cd /usr/lib/ccache
sudo ln -s /usr/bin/ccache arm-none-eabi-g++
sudo ln -s /usr/bin/ccache arm-none-eabi-gcc

• 测试启动SITL

  cd ardupilot/ArduCopter
  $ sim_vehicle.py -v ArduSub

  APM: EKF2 IMU0 is using GPS
  APM: EKF2 IMU1 is using GPS
  Flight battery 100 percent

• 上述字样说明启动成功了。
• 按ctrl+C。再启动sim_vehicle.py

ardupilot/Tools/autotest$ sim_vehicle.py -L RATBeach --out=udp:0.0.0.0:14550 --map –console -v ArduSub

• 成功安装之后， 就包含了mavproxy，SITL。

• 安装MAVProxy和pymavlink

pip install --upgrade pymavlink MAVProxy --user

参考：

• https://dronekit-python.readthedocs.io/en/latest/develop/sitl_setup.html
• https://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html