PyMavlink and PX4 SITL

python implementation of the MAVLink protocol

SITL and pymavlink setup

• Terminal 1: from PX4 Firmware run

make posix_sitl_default jmavsim

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Tip: Run SITL without GUI , good performance save resource

source

• Edit this file, which is part of jMAVSim repository, Visualizer3D.java13, and change setVisible(true) to setVisible(false).

# find . -name Visualizer3D.java
vim `find . -name Visualizer3D.java`
# search setVisible(true) //line 175
# change setVisible(true) to setVisible(false)

# compile and run again
make posix_sitl_default jmavsim

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Now the SITL run without JMavsim GUI

| ___ \ \ \ / /   /   |
| |_/ /  \ V /   / /| |
|  __/   /   \  / /_| |
| |     / /^\ \ \___  |
\_|     \/   \/     |_/

px4 starting.

INFO  [Unknown] Calling startup script: bash etc/init.d-posix/rcS 0

INFO  [simulator] Waiting for initial data on UDP port 14560. Please start the flight simulator to proceed..
 
Init MAVLink
4000000 B/s on udp port 14556 remote port 14550

INFO  [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14557 remote port 14540

PyMavlink demo

• use ipython/ python console

from pymavlink import mavutil
master = mavutil.mavlink_connection("udp:127.0.0.1:14540")
#master
# <pymavlink.mavutil.mavudp at 0x7..>
master.recv_match()
_.to_dict()

{'alt': 487971,
 'hdg': 40,
 'lat': 473977416,
 'lon': 85455938,
 'mavpackettype': 'GLOBAL_POSITION_INT',
 'relative_alt': -12,
 'time_boot_ms': 357265,
 'vx': -3,
 'vy': 0,
 'vz': 0}