fg_out_address = interpret_address(opts.fgout)
sim_in_address = interpret_address(opts.simin)
# setup output to flightgear
fg_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
fg_out.connect(fg_out_address)
fg_out.setblocking(0)
# Global ZMQ Context, this is thread safe to pass around.
zmqContext = zmq.Context()
# FG FDM object
fdm = fgFDM.fgFDM()
# create the quadcopter model
a = MultiCopter(frame=opts.frame)
print("[SIM] Simulating %u motors for frame %s" % (len(a.motors), opts.frame))
# motors initially off
m = [0.0] * 11
# parse home
v = opts.home.split(',')
if len(v) != 4:
print("[SIM] Home should be lat,lng,alt,hdg")
sys.exit(1)
a.home_latitude = float(v[0])
a.home_longitude = float(v[1])
a.home_altitude = float(v[2])
a.latitude = a.home_latitude
# setup input from SITL
sim_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sim_in.bind(sim_in_address)
sim_in.setblocking(0)
# setup output to SITL
sim_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sim_out.connect(sim_out_address)
sim_out.setblocking(0)
# FG FDM object
fdm = fgFDM.fgFDM()
# create the quadcopter model
a = MultiCopter(frame=opts.frame)
print("Simulating %u motors for frame %s" % (len(a.motors), opts.frame))
# motors initially off
m = [0.0] * 11
lastt = time.time()
frame_count = 0
# parse home
v = opts.home.split(',')
if len(v) != 4:
print("home should be lat,lng,alt,hdg")
sys.exit(1)
a.home_latitude = float(v[0])
# setup input from SITL
sim_in = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sim_in.bind(sim_in_address)
sim_in.setblocking(0)
# setup output to SITL
sim_out = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
sim_out.connect(sim_out_address)
sim_out.setblocking(0)
# FG FDM object
fdm = fgFDM.fgFDM()
# create the quadcopter model
a = MultiCopter(frame=opts.frame)
print("Simulating %u motors for frame %s" % (len(a.motors), opts.frame))
# motors initially off
m = [0.0] * 11
lastt = time.time()
frame_count = 0
# parse home
v = opts.home.split(',')
if len(v) != 4:
print("home should be lat,lng,alt,hdg")
sys.exit(1)
a.home_latitude = float(v[0])
frame_rate = 400
elif opts.frame == 'IrisRos':
from iris_ros import IrisRos
a = IrisRos()
frame_rate = 1000
elif opts.frame.startswith('CRRCSim'):
from crrcsim import CRRCSim
a = CRRCSim(frame=opts.frame)
frame_rate = 360
elif opts.frame.startswith('rover'):
from rover import Rover
a = Rover(frame=opts.frame)
frame_rate = 360
else:
from multicopter import MultiCopter
a = MultiCopter(frame=opts.frame)
frame_rate = 400
if opts.rate != 0:
frame_rate = opts.rate
print("Simulating for frame %s" % opts.frame)
# motors initially off
m = [0.0] * 11
# parse home
v = opts.home.split(',')
if len(v) != 4:
print("home should be lat,lng,alt,hdg")
sys.exit(1)
