如何从dev Wiki使用带有SITL vagrant VM的dronekit

Question

我正在按照DroneKit-Python中的入门说明在VM中设置DroneKit.为了让自己更轻松,我开始使用Vagrant设置SITL.但是,我无法弄清楚如何运行SITL并从示例脚本中与它进行对话.

我做了什么:

1. Ran SITL vagrant script并让SITL工作(测试连接到在Windows上运行的Mission Planner).

2. 按照" 在Linux上设置 "中的讨论,通过执行以下操作进行测试:

   param load ../Tools/autotest/copter_params.parm

   param设置ARMING_CHECK 0

注意 - 在我的MAVProxy提示符中没有"STABILIZE>"提示符.这些成功(似乎是)

1. 然后我按Ctrl + D退出SITL模拟,并vagrant ssh打开我对虚拟机的提示.

2. 我安装了这里描述的依赖项(修复了pip规范之后):

   sudo apt-get install python-pip python-numpy python-opencv python-serial python-pyparsing python-wxgtk2.8

然后是MAVProxy

sudo pip install MAVProxy

然后droneapi(注意,必须使用"sudo"安装)

sudo pip install droneapi

然后从命令提示符(vagrant @ vagrant-ubuntu-trusty-32:/ vagrant/ArduCopter $)获得git clone并导航到演示:

git clone http://github.com/diydrones/droneapi-python.git
cd droneapi-python/example/small_demo

我使用"mavproxy.py"(通过USB进行Linux VM通信的正确类型)启动了MavProxy.得到以下:

Auto-detected serial ports are:
/dev/ttyS31
/dev/ttyS30
...
/dev/ttyS1
/dev/ttyS0
Logging to mav.tlog
libdc1394 error: Failed to initialize libdc1394

最后,尽管上面有错误,我试图加载并使用该模块.

MAV> module load droneapi.module.api
MAV> DroneAPI loaded
Loaded module droneapi.module.api
api start small_demo.py
MAV> Exception in APIThread-0:
Traceback (most recent call last):
File "/usr/local/lib/python2.7/dist-packages/droneapi/module/api.py", line 322, in run
self.fn()
File "/usr/local/lib/python2.7/dist-packages/droneapi/module/api.py", line 593, in <lambda>
APIThread(self, lambda: execfile(args[1], g), args[1])
...

注意"MAV>"提示不是文档中列出的"手动>".

问题是"为什么这会失败,我需要做些什么才能让它发挥作用？" 我猜测问题是SITL实际上并没有运行.

谢谢!

Answer 1

从主机操作系统中重新检查 ardupilot 代码开始。

Droneapi-python 将被安装，但让我们获取示例脚本：

ardupilot$ git clone http://github.com/diydrones/droneapi-python.git

调出流浪盒子：

ardupilot$ vagrant up

按照“使用 Vagrant 设置 SITL”中的说明启动 SITL ：

ardupilot$ vagrant ssh -c "sim_vehicle.sh -j 2"

会有很多输出，但最后我看到的是：

+ mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 10.0.2.2:14550 --out 127.0.0.1:14550 --out 127.0.0.1:14551 --cmd=
Connect tcp:127.0.0.1:5760 source_system=255
Logging to mav.tlog
libdc1394 error: Failed to initialize libdc1394
MAV> 

Init APM:Copter V3.3-dev (e1be8148)
Free RAM: 4096
FW Ver: 120
----------------------------------------

Firmware change: erasing EEPROM...
done.
0 0 0 online system 1
STABILIZE> Mode STABILIZE
APM: APM:Copter V3.3-dev (e1be8148)
APM: Frame: QUAD
APM: Calibrating barometer
APM: Initialising APM...
APM: barometer calibration complete
APM: GROUND START
Init Gyro**
INS
----------------------------------------
G_off: 0.00, 0.00, 0.00
A_off: 0.00, 0.00, 0.00
A_scale: 1.00, 1.00, 1.00

Ready to FLY  ublox Received 473 parameters
fence breach
GPS lock at 0 meters
APM: PreArm: RC not calibrated

加载droneapi模块。有关如何在 mavproxy 启动时自动执行此操作的信息，请参阅“加载 DroneKit” 。

STABILIZE> module load droneapi.module.api
STABILIZE> DroneAPI loaded

运行DroneKitsmall_demo.py 脚本：

STABILIZE> api start ../droneapi-python/example/small_demo/small_demo.py 

输出：

STABILIZE> Mode: VehicleMode:STABILIZE
Location: Location:lat=-35.3632609,lon=149.1652299,alt=-0.280000001192,is_relative=False
Attitude: Attitude:pitch=-0.0046319803223,yaw=-0.571676075459,roll=-0.00480426847935
Velocity: [0.11, -0.06, -0.06]
GPS: GPSInfo:fix=3,num_sat=10
Armed: False
groundspeed: 0.0
airspeed: 0.0
Requesting 0 waypoints t=Fri May  1 02:18:50 2015 now=Fri May  1 02:18:50 2015
Home WP: MISSION_ITEM {target_system : 255, target_component : 0, seq : 0, frame : 0, command : 16, current : 0, autocontinue : 1, param1 : 0.0, param2 : 0.0, param3 : 0.0, param4 : 0.0, x : -35.3632621765, y : 149.165237427, z : 584.33001709}
Current dest: 0
Disarming...
Arming...
Overriding a RC channel
Current overrides are: {'1': 900, '4': 1000}
RC readback: {'1': 1500, '3': 1000, '2': 1500, '5': 1800, '4': 1500, '7': 1000, '6': 1000, '8': 1800}
Cancelling override
APIThread-0 exiting...
Got MAVLink msg: COMMAND_ACK {command : 400, result : 0}
APM: PreArm: RC not calibrated
Got MAVLink msg: COMMAND_ACK {command : 400, result : 4}
Got MAVLink msg: COMMAND_ACK {command : 11, result : 0}
AUTO> Mode AUTO