Run the dronekit flight control application on Shumei faction under px4-jmavsim software simulation environment

   “ The four axes of the sky DIY” Wechat official account training materials are right Pixhawk Aircraft installation Raspberry Pi Introduced , About software simulation , This paper introduces the in Ardupilot Run the flight control application program of Shumei School under the flight control system software simulation , This article is about PX4 Run the flight control application program of Shumei school in the software simulation environment of the flight control system .

Basic simulation environment ：

stay PC Or the operating system installed on the laptop is ubuntu 20.04.2, It can also be 16.0.4.

In Shumei sect （ such as ：Raspberry Pi 3B） What's installed on ubuntu-mate desktop 16.04.2（ You can download it at this address ：https://releases.ubuntu-mate.org/archived/xenial/armhf/

The establishment of basic simulation environment and how to communicate with Rasberry Pi establish wifi Connect , Please refer to wechat official account “ The four axes of the sky DIY” Training materials and articles ：Pixhawk UAV extended tutorial （2）--- Shumei sect installation ubuntu-mate System and necessary settings

1. stay PC Or laptop computer ubuntu linux On the machine （ hypothesis ：IP The address is 192.168.3.12） install PX4 development environment

Reference resources px4 Articles on the official website ：https://docs.px4.io/master/en/dev_setup/building_px4.html

2. start-up jmavsim Software emulation （SITL）

stay PX4 The installation directory PX4-Autopilot in , Enter the command ：

  make px4_sitl_default jmavsim

3. Start the ground station （ If you don't want to see 3D According to the effect , This item can be omitted ）

Get into QGroundControl In the installation directory , Enter the command ：

   ./QgroundControl.AppImage

4. stay ubuntu linux On the machine （ hypothesis ：IP The address is 192.168.3.12） install mavlink-router

Reference resources mavlink-router Articles on the official website ：https://github.com/mavlink-router/mavlink-router

5. stay ubuntu linux On the machine （ hypothesis ：IP The address is 192.168.3.12 ） Start the mavlink-router

  stay mavlink-router Directory , Enter the command ：

./mavlink-routerd -e 192.168.3.11:14540 0.0.0.0:14540

perhaps

./mavlink-routerd -e 192.168.3.11:14540 127.0.0.1:14540

notes ：mavlink-router The role of the 192.168.3.12:14540 And 192.168.3.11:14540 Make a connection between （udp Routing of information ）

6. stay Raspberry Pi（ hypothesis ：IP The address is 192.168.3.11） On the establishment of dronekit PX4 Running environment

Reference resources px4 Articles on the official website ：https://docs.px4.io/master/en/robotics/dronekit.html

7. download dronekit Applications mavlnk_px4.py

git clone https://github.com/PX4/PX4-Autopilot/blob/master/Tools/mavlink_px4.py

8. modify mavlnk_px4.py The address part of the application

modify mavlink_px4.py The address part of the program is as follows ：

conection_string       = '192.168.3.11:14540'

#connection_string       = '127.0.0.1:14540'

9. function mavlink_px4.py

python mavlink-px4.py

Can be viewed QGroundControl Flight interface and jmavsim 3D Show , Unlock , take off , Flight route , land , locked .