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Dockerfile Added patch to SITL to ignore home alt when calculating height. Dec 12, 2018
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Space Plane Architecture.png
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sim_eesa.py
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sitl_alt.patch Added patch to SITL to ignore home alt when calculating height. Dec 12, 2018

README.md

Simulation

Since not everyone on the project has a Pixhawk 2.1 with Intel Edison, this simulation VM should make it easier for us to collaborate.

Prerequisites

  • OSX (Dockerfile will need tweaking for linux)
  • Python 2.7 installed
  • This repo cloned

Plane Architecture

Space Plane Architecture

Running the drop test simulation

Step 0: clone eesa

git clone git@github.com:EqualExperts/eesa.git

Step 1: Build and run the Docker container for SITL and ArduPlane

cd eesa/simulation
docker build -t="eesa/simulation" .
docker run --name sim_eesa -d eesa/simulation
docker logs -f sim_eesa

Step 3: Start the FlightGear Sim (optional) In a new termal, startup the FlightGear simulator with the plane model

./fg.sh

FlightGear version 2017.3.1 is working well for me. It seems more likely to work if FlightGear is started before the simulated vehicle.

Step 4: Run the companion EESA mission script In yet another terminal run the dronekit script to start the mission:

sudo pip install dronekit
cd ~/eesa/scripts
python mission.py

If you have problems installing the dronekit library, see http://python.dronekit.io/develop/installation.html

TODO

  • Magically increase GPS altitude to simulate a balloon lift
  • Overlay for Ardupilot to allow arm and drop from altitude
  • Improve SITL simulation of air pressure decrease with altitude
  • Create Docker image (without flightgear)