Open srmainwaring opened 1 month ago
Hi @srmainwaring ! Thanks for the suggestions. I have made almost all the mentioned changes as suggested by you. Let me know if there's any other advice regarding the project or instructions. Regarding a separate folder for each vehicle type is a good suggestion and I'll be using similar from now on. Thanks
A review of the setup instructions.
1. Dependency on a custom branch of
ardupilot_gazebo
Suggest that the arena model and world is moved into this repo so it is self contained, and use the released / current version of
ardupilot_gazebo
.Replace the section describing the dependencies and setup of
ardupilot_gazebo
with a link to the repo and comment that the first step is to get theArduPilotPlugin
built following the instructions provided there.2. Running SITL
Because I run SITL for many types of vehicle, I keep the
eeprom.bin
,mav.parm
, etc files separate by creating a~/sitl/{vehicle_name}
folder for each type, rather than run from theardupilot
source coded directory.Recommend that Gazebo is run before starting SITL. It should not make a difference, but occasionally there is a
no link
warning which seems to be less likely if the Gazebo side is running waiting to connect.3. Console warnings
4. Point gimbal downdwards
The PWM for the camera to be directly downwards is
1300
ifSERVO7_MIN = 1100
andSERVO7_MAX = 1900
. WhereMNT1_PITCH_MAX = 45
,MNT1_PITCH_MIN = -135
, based on the SIYI A8 specs.5. The
Terminal 3
sectionThis is the main contribution from this repo! Recommend that the installation step is moved to the beginning.
5a. Install dependencies
These instructions are for Ubuntu:
For macOS the dependencies are installed with:
Start streaming
The terminal used to launch Gazebo should display the following if the streaming started correctly:
Missing dependencies on macOS
Needs additional dependency on macOS
and now running!
6. Trying to break things...
If I fly off the map the script exits with a seg fault: