Copter SITL Linux

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Thomas MAGNANI July 5, 2017 at 6:04am

Hi everyone !

I'm testing sitl arducopter and i'm got some questions about it :

- Firstly, is this link still relevant ?

- Is it possible to send c++ code, which use mavlink, directly to sitl or it's also possible to make sitl with GCS ?

- If it's possible, is it possible to someone explain me how to make it ?

Thanks you very much !

Thomas
Anderson Carredias November 16, 2015 at 12:15am

Yep, I first ran that to erase the EEPROM and then ran the sim_vehicle with the aircraft and map parameters. Even the first command(sim_vehicle.sh -w) complains about the heartbeat. (It creates the .o files and then does the parameters process and then says no heartbeat message)

So far - both sim_vehicle.sh -w and the longer command complain about the heartbeat. I did a nmap on the localhost and that port has nothing on it(not open/active).
- Developer
  
  Bill Bonney > Anderson Carredias November 16, 2015 at 7:12am
  
  When in ArduCopter directory, do git checkout Copter-3.3 and try again. The issue is that the ArduCopter.elf is not being built.
  - Anderson Carredias > Bill Bonney November 16, 2015 at 11:01pm
    
    Hey Bill, I did the following
    
    sudo apt-get install realpath
    git checkout Copter-3.3
    
    git pull
    
    went into the ArduCopter directory and ran sim_vehicle.sh -w
    
    then I ran sim_vehicle.sh without the aircraft parameter.
    
    Here's the output
    
    Building /tmp/ArduCopter.build/ArduCopter.elf
    %% ArduCopter.elf
    Firmware is in ArduCopter.elf
    ~/ardupilot/ArduCopter
    Starting up at CMAC : -35.363261,149.165230,584,353
    Starting ardupilot : /home/pi/ardupilot/ArduCopter/ArduCopter.elf -S -I0 --home -35.363261,149.165230,584,353 --model + --speedup=1
    Window access not found, logging to /tmp/ardupilot.log
    Connect tcp:127.0.0.1:5760 source_system=255
    Unable to access the X Display, is $DISPLAY set properly?
    Loaded module console
    Loaded module map
    no script test/mavinit.scr
    Log Directory: test/logs/2015-11-17/flight1
    Telemetry log: test/logs/2015-11-17/flight1/flight.tlog
    MAV> Waiting for heartbeat from tcp:127.0.0.1:5760
    - Developer
      
      Bill Bonney > Anderson Carredias November 17, 2015 at 10:26am
      
      Ok, how are you logging in to run SITL, It look like you don't have X setup.
      
      If you are logging in remotely you can do two things
      
      1) Run without Console/Map. Start screen session when you ssh in and then use sim_vehilce.sh
      
      2) use ssh -Y when you connect e.g ssh -Y 10.0.1.26 and this sets XDISPLAY to be your connectinh host. It will then show the console and the map
      
      If you are on the same machine and without X installed. you can do the same as step 2, run screen, then run sim_vehicle.sh from the ArduCopter directory. CTRL A,0 will switch you back to the MAVProxy command view. CTRL-A D detahces the screen and leaves it running. screen -r resumes the screen session. CTRL-C in the MACProxy command view quits
      - Anderson Carredias > Bill Bonney November 22, 2015 at 3:52pm
        
        I'm currently using option 1 of your suggestions.
        
        Building sitl// BUILDROOT=/tmp/ArduCopter.build HAL_BOARD=HAL_BOARD_SITL HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_NONE TOOLCHAIN=NATIVE EXTRAFLAGS=-DGIT_VERSION="802ced20"~/ardupilot/ArduCopter
        Starting up at CMAC : -35.363261,149.165230,584,353
        Starting ardupilot : /home/ubuntu/ardupilot/ArduCopter/ArduCopter.elf -S -I0 --home -35.363261,149.165230,584,353 -w --model + --speedup=1
        Window access not found, logging to /tmp/ardupilot.log
        Connect tcp:127.0.0.1:5760 source_system=255
        (error(111, 'Connection refused'), 'sleeping')
        (error(111, 'Connection refused'), 'sleeping')
        Failed to connect to tcp:127.0.0.1:5760 : [Errno 111] Connection refused
    - Developer
      
      Bill Bonney > Anderson Carredias November 17, 2015 at 7:48am
      
      Same issue. You probably don't have all the dependencies installed for the firmware to build. You should be able to type make sitl in the ArduCopter folder and see it build. See dev.ardupilot.com for instructions on building.
      - Anderson Carredias > Bill Bonney November 22, 2015 at 4:01pm
        
        Figured out the error. when I type make sitl, I get a bunch of errors after
        
        Building /tmp/ArduCopter.build/ArduCopter.elf%% ArduCopter.elf
        
        These errors are
        
        /tmp/ArduCopter.build/ArduCopter.o: In function `Copter::dataflash_periodic()':/home/ubuntu/zipquad/ardupilot/ArduCopter/ArduCopter.cpp:438: undefined reference to `DataFlash_Class::perio
        
        all these errors vanished when I did make clean and then make sitl
        
        but when it sets the params it gets timeouts
        
        Connect tcp:127.0.0.1:5760 source_system=255set FRAME to 0.000000timeout setting FRAME to 0.000000
        set MAG_ENABLE to 1.000000
        timeout setting MAG_ENABLE to 1.000000
        set FS_THR_ENABLE to 1.000000
        timeout setting FS_THR_ENABLE to 1.000000
      - Anderson Carredias > Bill Bonney November 22, 2015 at 3:50pm
        
        I followed the tutorial and ran the
        
        ardupilot/Tools/scripts/install-prereqs-ubuntu.sh -y
        
        and then did
        
        make sitl
        
        and it returned.
        
        // BUILDROOT=/tmp/ArduCopter.build HAL_BOARD=HAL_BOARD_SITL HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_NONE TOOLCHAIN=NATIVE EXTRAFLAGS=-DGIT_VERSION="802ced20"
        
        I then tried
        
        make px4-v2
        It put in several lines and completed
Developer

Bill Bonney November 15, 2015 at 11:04pm

Did you do sim_vehicle.sh -w first to initialize the Params?

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Copter SITL Linux

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