uav-sitl

A UAV SITL simulation Docker Image for Drone-kit and Ardupilot flight stack. This Image supports dronekit sitl and ardupilot sitl.

Download Docker Image

docker pull evans000/uav-sitl

Optional: Download the Ardupilot flight stack code

Docker Start Up

Start the docker container having GUI support for tools like the console and the map

xhost +
docker run -it --privileged \
 --env=LOCAL_USER_ID="$(id -u)" \
 -v /tmp/.X11-unix:/tmp/.X11-unix:ro \
 -e DISPLAY=:0 \
 -p 14556:14556/udp \
 -p 8080:8080 \
 evans000/uav-sitl bash

Spawn a new Docker Container

docker exec -it <container-id> bash

Optional : Include Ardupilot to the container

Add the following in the docker run command

-v ~path-to-your-dir/ardupilot:/ardupilot:rw \

Important

Docker may not run if not called with sudo. In this case add sudo before the execution of the docker command

Ardupilot Sitl Execution

Sitl can be exexuted with Auto parameters for MavProxy or with custom loaded

Option 1 : Auto MavProxy

cd ardupilot/ArduCopter
../Tools/autotest/sim_vehicle.py --map --console

Option 2 : Manual MavProxy

Enter your own home longitude and latitude and the path of your computer on the defaults flag

Docker Terminal 1

cd ardupilot/build/sitl/bin
./arducopter -S -I0 --model "+" --home custom-long,custom-lat,0,180 --defaults /home/your-username/ardupilot/Tools/autotest/default_params/copter.parm

Docker Terminal 2

mavproxy.py --master tcp:127.0.0.1:5760 --out udp:127.0.0.1:14551

MavProxy console Commands

mode GUIDED          (change the flight mode)
GUIDED> arm throttle (arm the UAV)
GUIDED> takeoff 10   (to fly at 10m)
GUIDED> Guided (long, lat) height