ArduPilot 笔记

1. ArduPilot SITL 编译

# 编译及开发环境准备
./Tools/environment_install/install-prereqs-ubuntu.sh -y

./waf configure --board sitl
./waf plane    # ArduPlane
# 生成 build/sitl/bin/arduplane

1.1. 初步运行

使用自定义python脚本运行 SITLgithub – ap-swarm-launcher：

# 启动两个 ArduPlane SITL 实例，设置数据目录为 ~/tmp/arduplane
uv run ap-sitl-swarm --model plane -n 2 --data-dir ~/tmp/arduplane --no-multicast --tcp-base-port 5760 --home 31.8269,117.2280,30 ~/tmp/arduplane/arduplane

更多资料：

• Using SITL with AirSim
• search: ardupilot airsim
• Ardupilot – Simulation