PyMavlink-WS

PyMavlink repo for introduction to mavlink and drone programming

Setup

Necessary packages

sudo apt install git
sudo apt install python3-pip
pip3 install pymavlink

ArduPilot dev env setup

git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git

sudo usermod -a -G dialout $USER

cd ardupilot

Tools/environment_install/install-prereqs-ubuntu.sh -y

. ~/.profile

Software in the Loop (SITL)

Build for simulation board

cd ardupilot

./waf configure --board sitl

./waf copter

Run simulation

./build/sitl/bin/arducopter --model quad --defaults Tools/autotest/default_params/copter.parm

Run mavproxy

mavproxy.py --master=tcp:127.0.0.1:5760 --out=udp:127.0.0.1:14550 --console --map

OR

Run sim_vehicle.py

sim_vehicle.py -v ArduCopter --console --map

Note: sim_vehicle.py might leave the port open when shutdown, to fix this you need to kill the process

sudo lsof -i :5760

Check whe PID number of the process and kill it

sudo kill -9 <PID>