The four axes of the sky DIY” Wechat official account training materials are right Pixhawk Aircraft installation Raspberry Pi Introduced , About software simulation , This paper introduces the in Ardupilot Flight control system software simulation , Run the... Sent by Shumei Dronekit Flight control application , This article is about PX4 Flight control system software simulation environment , Run the... Sent by Shumei MAVSDK-Python Flight control application .
Basic simulation environment ：
stay PC Or the operating system installed on the laptop is ubuntu 20.04.2, It can also be 16.0.4,PX4 The software simulation environment of is installed on this machine .
In Shumei sect （ such as ：Raspberry Pi 3B） What's installed on ubuntu-mate desktop 16.04.2（ You can download it at this address ：https://releases.ubuntu-mate.org/archived/xenial/armhf/）, The flight control application will be installed on this machine .
In addition, it needs to be installed on Shumei pie python3.6, because MAVSDK-Python This program requires 3.6 Previous versions of python, Carry out orders ：sudo apt install python3.6.
The establishment of basic simulation environment and how to communicate with Rasberry Pi establish wifi Connect , Please refer to wechat official account “ The four axes of the sky DIY” Training materials and articles ：《Pixhawk UAV extended tutorial （2）--- Shumei sect installation ubuntu-mate System and necessary settings 》.
Follow the steps below to realize the MAVSDK-Python Flight control application program control software simulation environment PX4 Flight control system ：
1. stay PC Or on a laptop （ hypothesis ：IP The address is 192.168.3.12） install PX4 development environment
Reference resources px4 Articles on the official website ：https://docs.px4.io/master/en/dev_setup/building_px4.html
2. stay PC Or on a laptop （ hypothesis ：IP The address is 192.168.3.12） start-up jmavsim Software emulation （SITL）
stay PX4 The installation directory PX4-Autopilot in , Enter the command ：
make px4_sitl_default jmavsim
3. stay PC Or on a laptop （ hypothesis ：IP The address is 192.168.3.12） Start the ground station （ If you don't want to see 3D According to the effect , This item can be omitted ）
Get into QGroundControl In the installation directory , Enter the command ：
./QgroundControl.AppImage
stay QGroundControl Check the parameters on the ：MAV_BROADCAST, Should be set to Always broadcast.
4. stay PC Or on a laptop （ hypothesis ：IP The address is 192.168.3.12） install mavlink-router
Reference resources mavlink-router Articles on the official website ：https://github.com/mavlink-router/mavlink-router
5. stay PC Or on a laptop （ hypothesis ：IP The address is 192.168.3.12） start-up mavlink-router
stay mavlink-router Directory , Enter the command ：
./mavlink-routerd -e 192.168.3.11:14540 0.0.0.0:14540
perhaps
./mavlink-routerd -e 192.168.3.11:14540 127.0.0.1:14540
notes ：mavlink-router The function is in PC Or laptop and Raspberry Pi The establishment between is based on UDP Communication connection , Also is to 192.168.3.12:14540 And 192.168.3.11:14540 Establish a connection between （udp Routing of information ）.
6. In Shumei sect （ hypothesis ：IP The address is 192.168.3.11） Installation on MAVSDK-Python
Reference resources MAVSDK Articles on the official website ：https://mavsdk.mavlink.io/develop/en/getting_started/installation.html
notes ：MAVSDK-Python It is used in the reference materials on the official website pip Where available python3.6 -m pip Instead of .
7. In Shumei sect （ hypothesis ：IP The address is 192.168.3.11） Start manually on the mavsdk_server
perform ：
./mavsdk_server -p 50051
notes ：
a. If it is not started manually mavsdk_server, Application and mavsdk_server There will be unstable connections between , Unknown cause .
b. my mavsdk_server edition （arm edition ） yes v0.36.0
8. modify MAVSDK-Python Under the table of contents examples/takeof_and_land.py file
take
drone = System()
Change it to ：
drone = System(mavsdk_server_address="localhost",port=50051)
And then execute ：
python3.6 takeoff_and_land.py
Can be viewed QGroundControl Flight interface and jmavsim 3D Show , Unlock , take off , Flight route , land , locked .
