初遇AirSim（三）
这里介绍下shell控制和settings.json的一些其他配置。
AirSim官方GitHub：https://github.com/Microsoft/AirSim
配置AirSim可以看初遇AirSIm（一）
shell控制
- 在vs中打开 AirSim 目录下的
Airsim.sln。
- 在 Solution Explorer 中打开 DroneShell 中 main.cpp。
- 工具栏配置中设置成 Debug 和 x64 ，然后在确保Pixhawk链接到虚拟环境情况下，运行这个main.cpp。
- 这时会出现命令行界面，输入 arm 解锁，输入 takeoff 就可以看见飞行器正常起飞了，其他命令可以输入 ? 查看。
配置settings.json 文件
settings.json文件位于 C:\Users\*\Documents\AirSim 目录下。
第一次设置AirSim时会生成空白的settings.json文件，可以用ASCII编辑它。
在不更改它的情况下是按照默认配置执行。
- 若要设置汽车模型添加
"SimMode": "Car", 设置飞行器就添加"SimMode": "Multirotor"； - 添加PX4为默认配置
"DefaultVehicleConfig": "PX4"; - 配置PX4端口，
"SerialPort":"*", 知道端口时添加"SerialPort":"COM3,115200"，可以参考初遇AirSim（二）。
e.g.
{
"SettingsVersion": 1.0,
"SimMode": "Multirotor",
"DefaultVehicleConfig": "PX4",
"PX4": {
"FirmwareName": "PX4",
"SerialPort":"*"
}
}附所有默认设定：
{
"DefaultVehicleConfig": "",
"SimMode": "",
"ClockType": "",
"ClockSpeed": "1",
"LocalHostIp": "127.0.0.1",
"RecordUIVisible": true,
"LogMessagesVisible": true,
"ViewMode": "",
"UsageScenario": "",
"RpcEnabled": true,
"EngineSound": true,
"PhysicsEngineName": "",
"EnableCollisionPassthrogh": false,
"Recording": {
"RecordOnMove": false,
"RecordInterval": 0.05,
"Cameras": [
{ "CameraID": 0, "ImageType": 0, "PixelsAsFloat": false, "Compress": true }
]
},
"CaptureSettings": [
{
"ImageType": 0,
"Width": 256,
"Height": 144,
"FOV_Degrees": 90,
"AutoExposureSpeed": 100,
"AutoExposureBias": 0,
"AutoExposureMaxBrightness": 0.64,
"AutoExposureMinBrightness": 0.03,
"MotionBlurAmount": 0,
"TargetGamma": 1.0,
"ProjectionMode": "",
"OrthoWidth": 5.12,
"Gimble": {
"Stabilization": 0,
"Pitch": NaN,
"Roll": NaN,
"Yaw": NaN
}
}
],
"OriginGeopoint": {
"Latitude": 47.641468,
"Latitude": -122.140165,
"Altitude": 122
},
"TimeOfDay": {
"Enabled": false,
"StartDateTime": "",
"CelestialClockSpeed": 1,
"StartDateTimeDst": false,
"UpdateIntervalSecs": 60
},
"SubWindows": [
{"WindowID": 0, "CameraID": 0, "ImageType": 3, "Visible": false},
{"WindowID": 1, "CameraID": 0, "ImageType": 5, "Visible": false},
{"WindowID": 2, "CameraID": 0, "ImageType": 0, "Visible": false}
],
"SimpleFlight": {
"FirmwareName": "SimpleFlight",
"DefaultVehicleState": "Armed",
"RC": {
"RemoteControlID": 0,
"AllowAPIWhenDisconnected": false,
"AllowAPIAlways": true
},
"ApiServerPort": 41451
},
"SegmentationSettings": {
"InitMethod": "",
"MeshNamingMethod": "",
"OverrideExisting": false
},
"NoiseSettings": [
{
"Enabled": false,
"ImageType": 0,
"RandContrib": 0.2,
"RandSpeed": 100000.0,
"RandSize": 500.0,
"RandDensity": 2,
"HorzWaveContrib":0.03,
"HorzWaveStrength": 0.08,
"HorzWaveVertSize": 1.0,
"HorzWaveScreenSize": 1.0,
"HorzNoiseLinesContrib": 1.0,
"HorzNoiseLinesDensityY": 0.01,
"HorzNoiseLinesDensityXY": 0.5,
"HorzDistortionContrib": 1.0,
"HorzDistortionStrength": 0.002
}
],
"AdditionalCameras": [
{ "X": 0.00, "Y": 0.5, "Z": 0.0, "Roll": 0.0, "Pitch": 0.0, "Yaw": 90.0 }
],
"PawnPaths": {
"DefaultCar": {"PawnBP":"/AirSim/VehicleAdv/SUV/SuvCarPawn"},
"DefaultQuadrotor": {"PawnBP":"/AirSim/Blueprints/BP_FlyingPawn"}
},
"PX4": {
"FirmwareName": "PX4",
"LogViewerHostIp": "127.0.0.1",
"LogViewerPort": 14388,
"OffboardCompID": 1,
"OffboardSysID": 134,
"QgcHostIp": "127.0.0.1",
"QgcPort": 14550,
"SerialBaudRate": 115200,
"SerialPort": "*",
"SimCompID": 42,
"SimSysID": 142,
"SitlIp": "127.0.0.1",
"SitlPort": 14556,
"UdpIp": "127.0.0.1",
"UdpPort": 14560,
"UseSerial": true,
"VehicleCompID": 1,
"VehicleSysID": 135,
"ApiServerPort": 41451
}
}如果有特别需要，详细可以看https://github.com/Microsoft/AirSim/blob/master/docs/settings.md
有其他问题寻求解决方法可以看https://github.com/Microsoft/AirSim/issues