Hi,
I'm a newbie and trying to do SITL of ArduCopter. Here is the steps I follow:
1. I run ArduCopter.elf and get the following messeges:
Starting SITL input
Serial port 0 on TCP port 5760
Waiting for connection ....
2. I type mavproxy.py --master tcp:127.0.0.1:5760 and get the followins:
Logging to mav.log
Init ArduCopter V2.5.5
Free RAM: 4096
FW Ver: 118
----------------------------MAV> ------------
load_all took 9us
Press ENTER 3 times for CLI
GUEU"d'`8EU3ising APM... ublox OK
GPS
----------------------------------------
enabled
U3STARTtU*U"d'`mInit GyroU<U"d'`*UU "d'`J*U3
kU"d'`*U\U"d'`*UoU"d'`?*UVXU"d'`O*U3ising APM...OUU"d'`1_*U.U"d'`*UoU"d'`&*UAU"d'`*UvU"d'`C
gyro did not converge: diff=0.191763 dps
IMU
----------------------------------------
G_off: 0.01, -0.01, -0.01
A_off: 0.00, 0.00, 0.00
Ready to FLY U r&U!U"U#U$IU%U&~U'jU(U)KgU*%U+PU,U-=U.SU/?U0U1nU2U3;U4U5cU6vU7TU38 MOTORSARMING MOTORSLow Battery!TrUF:UGEUH\UIUJkUKuULm3UMUNUOUP>7UQURUSPUTHXUUUVoUW&UXUYvUZiU[A
The not understandable series of letters keep appearing.
3. I run the simulator by typing im_multicopter.py --home -35.362938,149.165085,584,270. Then I get
Simulating 4 motors for frame +
Starting at lat=-35.362938 lon=149.165085 alt=584.0 heading=270.0
As soon as I press the enter button, I see the following message on the above ArduCopter terminal:
cmd#: 0 id:16 op:0 p1:0 p2:0 p3:-35.3629379 p4:149.1650848
4. I type mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 and get the following prompt:
Logging to mav.log
MAV>
I don't know what to do from here. I think I have to provide PWM to the motors but don't know how.
Thanks for your time reading the post.
Replies
You've made good progress!
The weird characters are MAVlink packets (ASCII "U" = 0x55, which is the "STX, start transmit" header of the MAVlink packet. )
So you're seeing MAVLink.
The sim-multicopter part is working correctly too. You should indeed see the response that sets the GPS home position (cmd#: 0 id:16 op:0 p1:0 p2:0 p3:-35.3629379 p4:149.1650848)
I think you have the command line for mavproxy incorrect. Instead of "--master tcp...." you need "--master=tcp:...."
Otherwise it ignores the tcp part and tries to connect to a serial TTY, then you see nothing happening ;-)
Once you fix that you can try these commands on mavproxy:
rc 4 2000 (set full right rudder). You should see "MOTORS ARMING" or something
rc 4 1500 (center rudder), you don't want to take off with full right rudder
rc 3 1400 (40% throttle), take off
After a second you should see:
height 10
height 20
height 30
etc.