ArduPilot软件在环SITL仿真 - FlightGear飞行模拟器

ardupilot版本：copter3.6.0-rc2

1. 下载编译ardupilot

2. 安装相关依赖包

cd ardupilot/Tools/scripts
./install-prereqs-ubuntu.sh.

3. 添加路径

export PATH=$PATHHOME/ardupilot/Tools/autotest
export PATH=/usr/lib/ccachePATH

使之生效

. ~/.bashrc

4. 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 --map

5. FlightGear(Optional)

（1）安装 FlightGear

sudo apt-get install flightgear

（2）启动 FlightGear

cd ardupilot/Tools/autotest
./fg_quad_view.sh

（3）启动SITL

sim_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

Takingoff

arm throttle
takeoff 40

takeoff 40是指起飞到40米悬停，等待下一个指令

Change mode

STABILIZE> 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 circle
param set circle_radius 2500

根据需求设置环绕半径，上面设置的是25米

Flyinga mission

wp load ..\Tools\autotest\CMAC-circuit.txt
mode auto
wp set 2
wp loop

Set GeoFence

GUIDED> param show fence*
GUIDED> FENCE_ACTION    1.000000
FENCE_ALT_MAX 100.000000
FENCE_ENABLE    0.000000
FENCE_MARGIN    2.000000
FENCE_RADIUS    150.000000
FENCE_TYPE    3.000000

设置电子围栏使能FENCE_ENABLE=0表示disabled，FENCE_ENABLE=1表示 enabled

GUIDED> param set fence_enable 1

Loading a parameter

param load ..\Tools\autotest\default_params\copter.parm
param save ./myparams.parm

Testing RC failsafe

param set SIM_RC_FAIL 1
rc 3 900

Testing GPS failure

param set SIM_GPS_DISABLE 1

Testing 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/s

param set SIM_WIND_DIR 180
param 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