jMAVSim Multiple Vehicles

[musclesinwood]

HI Can someone please guide me how can I get two vehicles on qgroundcontrol using jMAVSim? Currently jMAVSim is simulating a single vehicle on qgroundcontrol. WHat I want is simulating two vehicles using a single jMAVSim simulator. Can anyone please guide me how can I proceed with this issue?

regards Omar

[DrTon]

That should be possible. Just try to create another vehicle:

        // Create vehicle with sensors
        Vector3d gc = new Vector3d(0.0, 0.0, 0.0);  // gravity center
        AbstractMulticopter vehicle = new Quadcopter(world, "models/3dr_arducopter_quad_x.obj", "x", 0.33 / 2, 4.0,
                0.05, 0.005, gc);
        vehicle.setMass(0.8);
        // Sensors setup etc.

And create corresponding MAVLink object for it:

        MAVLinkHILSystem hilSystem = new MAVLinkHILSystem(schema, 2, 51, vehicle); // Use another SysID here so qgroundcontrol can understand that it's another system!!!
        connHIL.addNode(hilSystem);

And finally add to the "world":

        world.addObject(vehicle);

If you use HIL you also will need to create the second connection to the second autopilot, or another UDP port for SIL.

[weiminshen99]

@DrTon, Thanks for your answers. Could you please explain in which files should these new lines be added? Thanks! Wingman

[weiminshen99]

Hi, @DrTon , Sorry to bother you again. Here are the four lines I inserted in the class Simulator in the file Simulator.java: vehicle2 = buildMulticopter(); hilSystem2 = new MAVLinkHILSystem(schema, 2, 51, vehicle2); connHIL.addNode(hilSystem2); world.addObject(vehicle2); The system compiles fine, but runs into some errors that I will send you in the next message.

[weiminshen99]

Here is the error message partially printed in a small window at the right-bottom corner of the GUI:

WARNING: Got heartbeat from system#-1 but configured to only comm system#2. Please change the system ID parameter to match in STIL. Init MAVLink Init MAVLink

Please let me know how to proceed from here. Thanks!