UAV-5--链接飞控以及配置SITL以及ardupilot环境

linux系统链接飞控以及配置SITL以及ardupilot环境

先更改本机host到对象的ip

再进行ssh的链接

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链接成功进入系统

链接飞控

from dronekit import connect 

# Connect to the Vehicle (in this case a UDP endpoint) 后边那个baud是波特率
vehicle = connect('/dev/ttyUSB0', wait_ready=True, baud=921600) 

# vehicle is an instance of the Vehicle class

print "Autopilot Firmware version: %s" % vehicle.version

print "Autopilot capabilities (supports ftp): %s" % vehicle.capabilities.ftp

print "Global Location: %s" % vehicle.location.global_frame

print "Global Location (relative altitude): %s" % vehicle.location.global_relative_frame

print "Local Location: %s" % vehicle.location.local_frame    #NED

print "Attitude: %s" % vehicle.attitude

print "Velocity: %s" % vehicle.velocity

print "GPS: %s" % vehicle.gps_0

print "Groundspeed: %s" % vehicle.groundspeed

print "Airspeed: %s" % vehicle.airspeed

print "Gimbal status: %s" % vehicle.gimbal

print "Battery: %s" % vehicle.battery

print "EKF OK?: %s" % vehicle.ekf_ok

print "Last Heartbeat: %s" % vehicle.last_heartbeat

print "Rangefinder: %s" % vehicle.rangefinder

print "Rangefinder distance: %s" % vehicle.rangefinder.distance

print "Rangefinder voltage: %s" % vehicle.rangefinder.voltage

print "Heading: %s" % vehicle.heading

print "Is Armable?: %s" % vehicle.is_armable

print "System status: %s" % vehicle.system_status.state

print "Mode: %s" % vehicle.mode.name    # settable

print "Armed: %s" % vehicle.armed    # settable

SITL仿真实例

# -*- coding: utf-8 -*-  

""" 
© Copyright 2015-2016, 3D Robotics. 
simple_goto.py: GUIDED mode "simple goto" example (Copter Only) 
Demonstrates how to arm and takeoff in Copter and how to navigate to points using Vehicle.simple_goto. 
"""

from __future__ import print_function
import time
from dronekit import connect, VehicleMode, LocationGlobalRelative


# 改为当前连接的pixhawk飞控的端口 下边是IP端口
connection_string = '10.42.0.10:14550'
print('Connecting to vehicle on: %s' % connection_string)
# connect函数将会返回一个Vehicle类型的对象，即此处的vehicle  
# 即可认为是无人机的主体，通过vehicle对象，我们可以直接控制无人机  
vehicle = connect(connection_string,wait_ready=True,baud=921600)

# 定义arm_and_takeoff函数，使无人机解锁并起飞到目标高度  
# 参数aTargetAltitude即为目标高度，单位为米  
def arm_and_takeoff(aTargetAltitude):
    # 进行起飞前检查  
    print("Basic pre-arm checks")
    # vehicle.is_armable会检查飞控是否启动完成、有无GPS fix、卡曼滤波器  
    # 是否初始化完毕。若以上检查通过，则会返回True  
    while not vehicle.is_armable:
        print(" Waiting for vehicle to initialise...")
        time.sleep(1)

    # 解锁无人机（电机将开始旋转）  
    print("Arming motors")
    # 将无人机的飞行模式切换成"GUIDED"（一般建议在GUIDED模式下控制无人机）  
    vehicle.mode = VehicleMode("GUIDED")
    # 通过设置vehicle.armed状态变量为True，解锁无人机  
    vehicle.armed = True

    # 在无人机起飞之前，确认电机已经解锁  
    while not vehicle.armed:
        print(" Waiting for arming...")
        time.sleep(1)

    # 发送起飞指令  
    print("Taking off!")
    # simple_takeoff将发送指令，使无人机起飞并上升到目标高度  
    vehicle.simple_takeoff(aTargetAltitude)

    # 在无人机上升到目标高度之前，阻塞程序  
    while True:
        print(" Altitude: ", vehicle.location.global_relative_frame.alt)
        # 当高度上升到目标高度的0.95倍时，即认为达到了目标高度，退出循环  
        # vehicle.location.global_relative_frame.alt为相对于home点的高度  
        if vehicle.location.global_relative_frame.alt >= aTargetAltitude * 0.95: 
            print("Reached target altitude")
            break
        # 等待1s  
        time.sleep(1)

# 调用上面声明的arm_and_takeoff函数，目标高度10m  
arm_and_takeoff(10)

# 设置在运动时，默认的空速为3m/s  
print("Set default/target airspeed to 3")
# vehicle.airspeed变量可读可写，且读、写时的含义不同。  
# 读取时，为无人机的当前空速；写入时，设定无人机在执行航点任务时的默认速度  
vehicle.airspeed = 3

# 发送指令，让无人机前往第一个航点  
print("Going towards first point for 30 seconds ...")
# LocationGlobalRelative是一个类，它由经纬度(WGS84)和相对于home点的高度组成  
# 这条语句将创建一个位于南纬35.361354，东经149.165218，相对home点高20m的位置  
point1 = LocationGlobalRelative(-35.361354, 149.165218, 20)
# simple_goto函数将位置发送给无人机，生成一个目标航点  
vehicle.simple_goto(point1)

# simple_goto函数只发送指令，不判断有没有到达目标航点  
# 它可以被其他后续指令打断，此处延时30s，即让无人机朝向point1飞行30s  
time.sleep(30)

# 发送指令，让无人机前往第二个航点  
print("Going towards second point for 30 seconds (groundspeed set to 10 m/s) ...")
# 与之前类似，这条语句创建了另一个相对home高20m的点  
point2 = LocationGlobalRelative(-35.363244, 149.168801, 20)
# simple_goto将目标航点发送给无人机，groundspeed=10设置飞行时的地速为10m/s  
vehicle.simple_goto(point2, groundspeed=10)

# 与之前一样，延时30s  
time.sleep(30)

# 发送"返航"指令  
print("Returning to Launch")
# 返航，只需将无人机的飞行模式切换成"RTL(Return to Launch)"  
# 无人机会自动返回home点的正上方，之后自动降落  
vehicle.mode = VehicleMode("RTL")

# 退出之前，清除vehicle对象  
print("Close vehicle object")
vehicle.close()

仿真会使用到git docker以及ardupilot组件

所以我们对本机进行环境配置

https://github.com/ArduPilot/ardupilot

前往仓库

获取git链接

gitclone

 git clone -b Copter-4.0.7 https://github.com/ArduPilot/ardupilot.git

接着再拉取子模块

eleven@shiyideMacBook-Pro-2 ardupilot % git branch     
* （非分支）
eleven@shiyideMacBook-Pro-2 ardupilot % git checkout -b Copter-4.0.7
切换到一个新分支 'Copter-4.0.7'
eleven@shiyideMacBook-Pro-2 ardupilot % git branch
* Copter-4.0.7
eleven@shiyideMacBook-Pro-2 ardupilot % git submodule update --init --recursive

如果遇到失败fail情况

可以直接前往地址下载

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下载完毕后

进行环境自安装

eleven@shiyideMacBook-Pro-2 ardupilot % cd Tools 

eleven@shiyideMacBook-Pro-2 Tools % cd environment_install 

eleven@shiyideMacBook-Pro-2 environment_install % cat install-prereqs-mac.sh  

因为我是用的是mac所以选择mac的.sh文件

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基本都是安装一些依赖包

可能会有网络问题装不上什么的

多执行几次更改自己的网络条件