ArduPilot软件在环SITL仿真
仿真环境：Ubuntu 16.04 LTSardupilot版本：copter3.6.0-rc21. 下载编译ardupilot2.安装相关依赖包cdardupilot/Tools/scripts./install-prereqs-ubuntu.sh.3.添加路径export PATH=$PATH:$HOME/ardupilot/Tools/autotestexport PATH=/usr/lib/ccache:$PATH使之生效. ~/.bashrc4.启动 SITL 仿真cd ardupilot/ArduCopter加载默认参数sim_vehicle.py -w按Ctrl-C关闭窗口，启动仿真sim_vehicle.py --console --map5. FlightGear(Optional)（1）安装 FlightGearsudo apt-get install flightgear（2） 启动 FlightGearcd ardupilot/Tools/autotest./fg_quad_view.sh（3）启动SITLsim_vehicle.py -L KSFO其中KSFO表示San Francisco机场，仿真场景可以根据需求设置6. 常用指令集Takingoffarm throttletakeoff 40takeoff 40是指起飞到40米悬停，等待下一个指令Change modeSTABILIZE> mode
STABILIZE> ('Available modes: ', ['STABILIZE', 'LAND', 'OF_LOITER', 'RTL', 'DRIFT', 'FLIP', 'AUTOTUNE', 'BRAKE', 'GUIDED_NOGPS', 'AVOID_ADSB', 'POSITION', 'SPORT', 'FLOWHOLD', 'POSHOLD', 'AUTO', 'GUIDED', 'ACRO', 'SMART_RTL', 'ALT_HOLD', 'LOITER', 'CIRCLE', 'THROW'])
切换到circle模式mode circleparam set circle_radius 2500根据需求设置环绕半径，上面设置的是25米Flyinga missionwp load ..\Tools\autotest\CMAC-circuit.txtmode autowp set 2wp loopSet GeoFenceGUIDED> param show fence*GUIDED> FENCE_ACTION 1.000000FENCE_ALT_MAX 100.000000FENCE_ENABLE 0.000000FENCE_MARGIN 2.000000FENCE_RADIUS 150.000000FENCE_TYPE 3.000000设置电子围栏使能FENCE_ENABLE=0表示disabled，FENCE_ENABLE=1表示 enabledGUIDED> param set fence_enable 1Loading a parameter
param load ..\Tools\autotest\default_params\copter.parmparam save ./myparams.parmTesting RC failsafeparam set SIM_RC_FAIL 1rc 3 900Testing GPS failureparam set SIM_GPS_DISABLE 1Testing the effects of vibration 2m/s*s加速度噪声param set SIM_ACC_RND 2 Testing the effects of wind南风10m/sparam set SIM_WIND_DIR 180param set SIM_WIND_SPD 10查看风的其他参数:param show sim_wind*
7. 仿真案例通过SITL模拟地磁校准启动指令sim_vehicle.py -v ArduCopter --frame calibration 起码来点图片看看效果啊。。。。 :)学习学习
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