vsm-cpp-ardupilot

VSM for Ardupilot autopilot implemented using VSM-SDK of Universal ground Control Software.

Preparation

git clone --recursive git@github.com:sensyn-robotics/vsm-cpp-ardupilot.git
cd vsm-cpp-ardupilot

Build the development environment as a Docker image

At first, you build the development environment as a Docker image. The Docker image include some tools like gcc or cmake and VSM SDK.

make ci_image

Build VSM

for Linux

Run the Docker container as the development environment

docker-compose run --rm linux-dev bash

Generate an executable binary

./linux/build.sh

Then, you would get build/linux/vsm-ardupilot.

Run VSM

docker-compose up -d

for Windows

Run the Docker container as the development environment

docker-compose run --rm windows-dev bash

Generate an executable binary

./windows/build.sh

Then, you would get build/windows/vsm-ardupilot.exe.

C++ development with Visual Studio Code

1. Run the following commands in your host OS.

rm -rf build/include
mkdir -p build/include/system build/include/vsm
docker-compose run --rm --name windows-dev windows-dev \
    sh -c "tar zcvfh vsm-sdk.tgz /opt/vsm-sdk/vsm-sdk/include \
    && tar zcvfh system.tgz /usr/x86_64-w64-mingw32/include"
pushd build/include/vsm
tar zxvf ../../../vsm-sdk.tgz
mv opt/vsm-sdk/vsm-sdk/include/* .
mv generated/* .
mv google/* .
rm -rf opt generated google
popd
pushd build/include/system/
tar zxvf ../../../system.tgz
mv usr/x86_64-w64-mingw32/include/* .
rm -rf usr
popd
rm -f system.tgz vsm-sdk.tgz

2. Append the following lines into configurations > includePath in .vscode/c_cpp_properties.json.

"${workspaceFolder}/build/include/vsm",
"${workspaceFolder}/build/include/system"

Update git sub-modules

git submodule foreach git pull origin master

The links to MAVLink

• Messages
• Mission Protocol
• Parameter Protocol
• Packet Serialization