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#!/bin/bash
# Example script for multi-vehicle simulation with AirSim
# see http://ardupilot.org/dev/docs/sitl-with-airsim.html#multi-vehicle-simulation for details
# Usage - From ardupilot root directory, run - libraries/SITL/examples/Airsim/follow-copter.sh $GCS_IP
# $GCS_IP is the IP address of the system running the GCs, by default is 127.0.0.1
# Kill all SITL binaries when exiting
trap "killall -9 arducopter" SIGINT SIGTERM EXIT
# assume we start the script from the root directory
ROOTDIR=$PWD
COPTER=$ROOTDIR/build/sitl/bin/arducopter
# Set GCS_IP address
if [ -z $1 ]; then
GCS_IP="127.0.0.1"
else
GCS_IP=$1
fi
# Check if Platform is Native Linux, WSL or Cygwin
# Needed for correct multicast addressing
unameOut="$(uname -s)"
if [ "$(expr substr $unameOut 1 5)" == "Linux" ]; then
# Check for WSL
if grep -q Microsoft /proc/version; then
MCAST_IP_PORT="127.0.0.1:14550"
# Native Linux
else
MCAST_IP_PORT="" # Use default IP, port
fi
elif [ "$(expr substr $unameOut 1 6)" == "CYGWIN" ]; then
MCAST_IP_PORT="0.0.0.0:14550"
fi
BASE_DEFAULTS="$ROOTDIR/Tools/autotest/default_params/copter.parm,$ROOTDIR/libraries/SITL/examples/Airsim/quadX.parm"
[ -x "$COPTER" ] || {
./waf configure --board sitl
./waf copter
}
# start up main copter in the current directory
$COPTER --model airsim-copter --uartA udpclient:$GCS_IP --uartC mcast:$MCAST_IP_PORT --defaults $BASE_DEFAULTS &
# Set number of extra copters to be simulated, change this for increasing the count
NCOPTERS="1"
# now start another copter to follow the first, using
# a separate directory to keep the eeprom.bin and logs separate
for i in $(seq $NCOPTERS); do
echo "Starting copter $i"
mkdir -p copter$i
SYSID=$(expr $i + 1)
FOLL_SYSID=$(expr $SYSID - 1)
# create default parameter file for the follower
cat <<EOF > copter$i/follow.parm
SYSID_THISMAV $SYSID
FOLL_ENABLE 1
FOLL_OFS_X -5
FOLL_OFS_TYPE 1
FOLL_SYSID $FOLL_SYSID
FOLL_DIST_MAX 1000
EOF
pushd copter$i
$COPTER --model airsim-copter --uartA tcp:0 --uartC mcast:$MCAST_IP_PORT --instance $i --defaults $BASE_DEFAULTS,follow.parm &
popd
done
wait
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