Start the simulation

• Launch Ardupilot & Gazebo

Terminal 1:

source ~/simulation/ros_catkin_ws/devel/setup.bash
cd ~/simulation/ardupilot/ArduCopter
../Tools/autotest/sim_vehicle.sh -j 4 -f Gazebo
# Once MAVProxy has launched completely, load the parameters
param load /home/bshang2/simulation/ardupilot/Tools/Frame_params/Erle-Copter.param
# Change the "bshang2" to your username.

Terminal 2:
source ~/simulation/ros_catkin_ws/devel/setup.bash
roslaunch ardupilot_sitl_gazebo_plugin erlecopter_mark.launch

Terminal 1:
mode GUIDED
arm throttle
takeoff 2
param set SYSID_MYGCS 1

• Run this project in Terminal 3

source ~/simulation/ros_catkin_ws/devel/setup.bash
rosrun ros_erle_pattern_follower ros_erle_pattern_follower

• Launch MATLAB and type command: "rosinit"
• Run related Simulink file

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Launch MATLAB

On the MATLAB command line, execute the following:

rosinit

Open this Simulink file and run the model.

Simulink file explanation:

• pattern_follow_body_frame.slx - Basic P controller;

• body_frame_iopid.slx - IOPID controller with back-calculation anti-windup; https://drive.google.com/file/d/0B2fvRttkMQIpUGVRdGNEMjV4UE0/view?usp=sharing The drone keeps avoiding the target, something needs to get negative. This issue is solved in iopid_back_calculation.slx

• iopid_back_calculation - IOPID controller with back-calculation anti-windup;

• Test_velocity_setpoint.slx - Fixed velocity setpoint, for testing;

• iopid_clamping.slx - IOPID controller with clamping anti-windup. It still has serious actuator saturation after using clamping anti-windup.

Support forums and chats

Please ask your questions not related to bugs/feauture requests on:

• Erle Robotics Forum

References:

• Erle Robotics

• YouTube video for Simulating the package

• Learn how to make this work on Gazebo simulator.

• ros_erle_pattern_follower project

• Get started with ROS in Simulink

• Custom message type in MATLAB