Mission Planner VirtualBOX Dronekit-sitl

MissionPlaner on virtualbox

Mission Planer setup

• Host: ubuntu 16.04
• Guest: Windows7
• Virtualbox
• Install VM VirtualBox Extension Pack (support USB2,3)
• Install VB Guest Addition
• Install Firfox (IE crash all the time)
• .Net 4.62
• Mission Planner
• Set VBOX network in bridge mode

Demo: Using Dronekit and Dronekit-SITL

• Reference

sudo pip install mavproxy
sudo pip install dronekit
sudo pip install dronekit-sitl

• Terminal 1

dronekit-sitl copter

• Terminal 2

export MP_IP="192.168.2.117"

mavproxy.py --master tcp:127.0.0.1:5760 --out udp:127.0.0.1:14551 --out udp:`echo $MP_IP`:14550

• Virtualbox (windows)
  • Change the connection type combo to udp
  • Select port 14550

Note

When run mavproxy got an error: AttributeError: 'module' object has no attribute 'MAV_TYPE_DODECAROTOR'

After some search in google , I found that pymavlink need to upgraded , download and install from pypi.org version 2.2.10 (current version 2.0.6)

Pymavlink Ardupilot SITL

• ardupilot SITL

• pamavlink

• Terminal 1

sim_vehicle.py --console

• Terminal 2 (python code)

from pymavlink import mavutil

master = mavutil.mavlink_connection('tcp:127.0.0.1:5762')

# Get some information !
while True:
    try:
        print(master.recv_match().to_dict())
    except:
        pass

• Terminal 3 (netstat -natp)

Proto Recv-Q Send-Q Local Address           Foreign Address         State       PID/Program name
tcp        0      0 0.0.0.0:5760            0.0.0.0:*               LISTEN      5976/arducopter 
tcp        0      0 0.0.0.0:5762            0.0.0.0:*               LISTEN      5976/arducopter 
tcp        0      0 0.0.0.0:5763            0.0.0.0:*               LISTEN      5976/arducopter 

python output

{'mavpackettype': 'TIMESYNC', 'ts1': 1854891080001, 'tc1': 0}
{'custom_mode': 0, 'system_status': 3, 'base_mode': 81, 'autopilot': 3, 'mavpackettype': 'HEARTBEAT', 'type': 2, 'mavlink_version': 3}
{'custom_mode': 0, 'system_status': 3, 'base_mode': 81, 'autopilot': 3, 'mavpackettype': 'HEARTBEAT', 'type': 2, 'mavlink_version': 3}
{'custom_mode': 0, 'system_status': 3, 'base_mode': 81, 'autopilot': 3, 'mavpackettype': 'HEARTBEAT', 'type': 2, 'mavlink_version': 3}

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

---

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

---

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}