How to add a non emulated quad/plane/SITL?

This sounds like a really stupid question. But so far I can't find any option that can do this (see screenshot below):

3691327764?profile=original

The only 2 options are emu-copter and emu-plane. While I have an APM sitl running on tcp:localhost:5760 which is never detected by UGCS. Can some one tell me how to add it in the first place?

Thanks a lot for your help.

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  • 1. On VSM config.

    Add two lines to vsm-ardupilot.conf:

    vehicle.ardupilot.tcp.2.address = 127.0.0.1
    vehicle.ardupilot.tcp.2.tcp_port = 5762
    If you are running the simulator on other host or virtual machine then substitute the 127.0.0.1 with the ip of the simulator host.
    And restart the VSM. It can be done from service manager system tray icon.

    No need to modify the VSM config in main menu. It is used only in distributed setup where vehicles are connected to VSMs in different network than server is running on.

    2. On two simulators.

    Yes, they must have different SYSID_THISMAV values to work correctly with UgCS.

    P.S. Anjum, please do not mess two topics in one thread but create a new one. This is called thread hijacking and is considered bad practice.

  • I have actually given them different system ids. The qGCs identifies them  as two different vehicles, yet the behaviour is unpredictable. I will still have a look. 

    Is there a way to simulate the drones only in jmavsim? 

    All I want to do is, test a follow functionality. So one drone is the target and the next one follows it.

    I will post this in the correct forum as well.


    Peng Cheng said:

    Hi Anjum,

    I've seen this before: When you command 2 drones of the same MAVLink SID to fly to different directions the GCS cannot distinguish their packets, so they are mixed and perceived as a single drone, of which flight path looks like sawtooth.

    The solution is merely giving 2 drones different SIDs.

    This issue is irrelevant to uGCS, could you post your question on APM/PX4/qGCS gitter or discussion group?

    Yours Peng


    Anjum Shariff said:

    Hi ,

    I could simulate two drones using distinct MAV ids, but the problem I'm facing is that the drones are not responding to missions well. They seem to be flying everywhere and then crashing. This happens only when I simulate two drones.

    My goal is to test a follow functionality that I am working on. I want one drone to emulate my target and the other drone to follow it. Any pointers on how to get this done?

    Peng Cheng said:

    Yeah, by default qGCS listen to udp:localhost:14550. You have 2 options:

    1. add a vehicle to tcp5760

    2. use MAVProxy to direct tcp5760 to udp14550, setting master=tcp... outs=udp...

    the above applies to APMSITL, jmavsim should be something similar

  • Hi Anjum,

    I've seen this before: When you command 2 drones of the same MAVLink SID to fly to different directions the GCS cannot distinguish their packets, so they are mixed and perceived as a single drone, of which flight path looks like sawtooth.

    The solution is merely giving 2 drones different SIDs.

    This issue is irrelevant to uGCS, could you post your question on APM/PX4/qGCS gitter or discussion group?

    Yours Peng


    Anjum Shariff said:

    Hi ,

    I could simulate two drones using distinct MAV ids, but the problem I'm facing is that the drones are not responding to missions well. They seem to be flying everywhere and then crashing. This happens only when I simulate two drones.

    My goal is to test a follow functionality that I am working on. I want one drone to emulate my target and the other drone to follow it. Any pointers on how to get this done?

    Peng Cheng said:

    Yeah, by default qGCS listen to udp:localhost:14550. You have 2 options:

    1. add a vehicle to tcp5760

    2. use MAVProxy to direct tcp5760 to udp14550, setting master=tcp... outs=udp...

    the above applies to APMSITL, jmavsim should be something similar

  • Hi ,

    I could simulate two drones using distinct MAV ids, but the problem I'm facing is that the drones are not responding to missions well. They seem to be flying everywhere and then crashing. This happens only when I simulate two drones.

    My goal is to test a follow functionality that I am working on. I want one drone to emulate my target and the other drone to follow it. Any pointers on how to get this done?

    Peng Cheng said:

    Yeah, by default qGCS listen to udp:localhost:14550. You have 2 options:

    1. add a vehicle to tcp5760

    2. use MAVProxy to direct tcp5760 to udp14550, setting master=tcp... outs=udp...

    the above applies to APMSITL, jmavsim should be something similar

  • 1. add a vehicle to tcp5760 .   Does it need to be done in qGC comm links ?

    Peng Cheng said:

    Yeah, by default qGCS listen to udp:localhost:14550. You have 2 options:

    1. add a vehicle to tcp5760

    2. use MAVProxy to direct tcp5760 to udp14550, setting master=tcp... outs=udp...

    the above applies to APMSITL, jmavsim should be something similar

  • Thanks a lot for the answer. I still have 2 problems

    1. I found the VSM config interface in main menu, add localhost:14550, and reboot my computer, but the SITL vehicle on localhost:14550 still won't show up. (see my screenshot)

    2. I can't find the option to reboot VSM process in uGCS client interface. The only 2 buttons are edit and delete. Is this feature still in progress?

    Thanks a lot for your answer3702337421?profile=original

  • No, VSM's are processes. You can restart VSM using UgCS Service manager, please see our User Manual.

  • Yes I read it carefully, thanks a lot for pointing me to the article.

    but apparently VSM is just a collection of C++ libraries? they are not services and cannot be restarted.

  • VSM = Vehicle Specific Module, some kind of drone/autopilot driver.

    Please see this post - http://diydrones.com/profiles/blogs/the-architecture-of-ugcs

  • VSM? Is it the same as uGCS client?


    Alexey Dobrovolskiy said:

    Hi,

    You should add this two lines to vsm-ardupilot.conf and restart Ardupilot VSM
    vehicle.ardupilot.tcp.1.address = 127.0.0.1 
    vehicle.ardupilot.tcp.1.tcp_port = 5762
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