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

Posted by Peng Cheng on December 22, 2016 at 5:42pm

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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Replies

  • Janis Dzerve December 27, 2016 at 12:33am

    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.

  • Anjum Shariff December 26, 2016 at 10:32am

    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

  • Peng Cheng December 26, 2016 at 10:18am

    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

  • Anjum Shariff December 25, 2016 at 8:29am

    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

  • Anjum Shariff December 25, 2016 at 1:30am

    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

  • Peng Cheng December 24, 2016 at 11:29am

    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

  • Alexey Dobrovolskiy December 23, 2016 at 1:53pm

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

  • Peng Cheng December 23, 2016 at 1:29pm

    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.

  • Alexey Dobrovolskiy December 23, 2016 at 12:31pm

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

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

  • Peng Cheng December 23, 2016 at 11:13am

    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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