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76 lines
1.7 KiB
Markdown
76 lines
1.7 KiB
Markdown
PX4 Simulation
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===
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Main article: https://dev.px4.io/en/simulation/
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PX4 simulation is possible in Linux and macOS with the use of physical environment simulation systems [jMavSim](https://pixhawk.org/dev/hil/jmavsim) and [the Gazebo](http://gazebosim.org).
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jMavSim is a lightweight environment intended only for testing multi-rotor aircraft systems; Gazebo is a versatile environment for all types of robots.
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Launching PX4 SITL
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--
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1. Clone repository from PX4.
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```(bash)
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git clone https://github.com/PX4/Firmware.git
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cd Firmware
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```
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jMavSim
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--
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Main article: https://dev.px4.io/en/simulation/jmavsim.html
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For simulation using the jMavSim lightweight environment, use the following command:
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```(bash)
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make posix_sitl_default jmavsim
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```
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To use the LPE position calculation module instead of EKF2, use:
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```(bash)
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make posix_sitl_lpe jmavsim
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```
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Gazebo
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--
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Main article: https://dev.px4.io/en/simulation/gazebo.html
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To get started, install Gazebo 7. On a Mac:
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```(bash)
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brew install gazebo7
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```
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On Linux (Debian):
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```(bash)
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sudo apt-get install gazebo7 libgazebo7-dev
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```
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Start simulation from the Firmware folder:
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```(bash)
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make posix_sitl_default gazebo
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```
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You can run a simulation in headless mode (without a window client). To do this, use the following command:
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```(bash)
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HEADLESS=1 make posix_sitl_default gazebo
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```
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Connection
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---
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QGroundControl will automatically connect to the running simulation on startup. The operation will be the same as, as in the case of a real flight controller.
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To connect MAVROS to the simulation, use the UDP Protocol, a local IP address, and port 14557, for example:
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```(bash)
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roslaunch mavros px4.launch fcu_url:=udp://@127.0.0.1:14557
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```
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