def launch_arducopter(self):
waypoints,_,_ = ReadFlightplanFile(os.path.join(icarous_home,
self.scenario["waypoint_file"]))
start_point = ','.join(str(x) for x in waypoints[0][0:3]+[0])
# Set up parameters for SITL
sitl_param_file = self.scenario.get("sitl_parameter_file", sitl_default)
sitl_params = LoadIcarousParams(os.path.join(icarous_home, sitl_param_file))
icarous_param_file = self.scenario["parameter_file"]
icarous_params = LoadIcarousParams(os.path.join(icarous_home, icarous_param_file))
icarous_params.update(self.scenario["param_adjustments"])
sitl_params["WPNAV_SPEED"] = icarous_params["DEF_WP_SPEED"]*100
filename = "sitlparams-%d" % self.spacecraft_id
sitl_param_file = os.path.join(self.output_dir, filename)
with open(sitl_param_file, 'w') as f:
for param_id, param_value in sitl_params.items():
f.write("%-16s %f\n" % (param_id, param_value))
# Launch SITL
arguments = ["sim_vehicle.py", "-v", "ArduCopter",
"-l", str(start_point),
"--add-param-file", sitl_param_file,
"--use-dir", "sitl_files",
"-I", str(self.spacecraft_id)]
logname = "sitl-%d-%f.tlog" % (self.spacecraft_id, time.time())
logfile = os.path.join(self.output_dir, logname)
arguments += ["-m", "--logfile="+logfile]
subprocess.Popen(arguments, stdout=subprocess.DEVNULL)
if self.verbose:
print("Waiting several seconds to allow ArduCopter to start up")
time.sleep(60)
def InputFlightplanFromFile(self,filename,scenarioTime=0,eta=False):
wp, time, speed = ReadFlightplanFile(filename)
fp = []
if eta:
combine = time
else:
combine = speed
for w,i in zip(wp,combine):
if not eta and i < 0:
i = self.defaultWPSpeed
fp.append(w + [i])
self.InputFlightplan(fp,scenarioTime,eta)
def InputMergeFixes(self, filename):
wp, ind, _, _, _ = ReadFlightplanFile(filename)
self.localMergeFixes = list(map(self.ConvertToLocalCoordinates, wp))
self.mergeFixes = wp
self.core.SetIntersectionData(list(zip(ind, wp)))
def InputMergeFixes(self, filename):
wp, _, _ = ReadFlightplanFile(filename)
self.localMergeFixes = list(map(self.ConvertToLocalCoordinates, wp))
self.mergeFixes = wp
dest = os.path.join(icarous_home, "exe", "ram", "merge_fixes.txt")
shutil.copy(filename, dest)