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61 lines
2.7 KiB
Markdown
61 lines
2.7 KiB
Markdown
# Multi-Vehicle Simulation with FlightGear
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:::warning
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This simulator is [community supported and maintained](../simulation/community_supported_simulators.md).
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It may or may not work with current versions of PX4.
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See [Toolchain Installation](../dev_setup/dev_env.md) for information about the environments and tools supported by the core development team.
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:::
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This topic explains how to simulate multiple vehicles using FlightGear in SITL.
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All vehicle instances have parameters defined by their startup scripts.
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:::info
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This is the most environmentally realistic way to simulate multiple vehicles running PX4, and allows easy testing of multiple different types of vehicles.
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It is suitable for testing multi-vehicle support in _QGroundControl_, [MAVSDK](https://mavsdk.mavlink.io/), etc.
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[Multi-Vehicle Simulation with Gazebo Classic](../sim_gazebo_classic/multi_vehicle_simulation.md) should be used instead for: swarm simulations with many vehicles, and testing features like computer vision that are only supported by Gazebo Classic.
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:::
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## How to Start Multiple Instances
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To start multiple instances (on separate ports and IDs):
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1. Checkout the [PX4 branch that supports multiple vehicles](https://github.com/ThunderFly-aerospace/PX4-Autopilot/tree/flightgear-multi) (at ThunderFly-aerospace):
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```sh
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git clone https://github.com/ThunderFly-aerospace/PX4Firmware.git
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cd PX4Firmware
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git checkout flightgear-multi
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```
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2. Build the PX4 Firmware using the standard toolchain (with FlightGear installed).
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3. Start the first instance using the [predefined scripts](https://github.com/ThunderFly-aerospace/PX4-FlightGear-Bridge/tree/master/scripts):
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```sh
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cd ./Tools/flightgear_bridge/scripts
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./vehicle1.sh
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```
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4. Start subsequent instances using another script:
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```sh
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./vehicle2.sh
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```
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Each instance should have its own startup script, which can represent a completely different vehicle type.
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For prepared scripts you should get the following view.
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Ground stations such as _QGroundControl_ connect to all instances using the normal UDP port 14550 (all traffic goes to the same port).
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The number of simultaneously running instances is limited mainly by computer resources.
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FlightGear is a single-thread application, but aerodynamics solvers consume a lot of memory.
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Therefore splitting to multiple computers and using a [multiplayer server](https://wiki.flightgear.org/Howto:Multiplayer) is probably required to run _many_ vehicle instances.
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## Additional Resources
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- See [Simulation](../simulation/index.md) for more information about the port configuration.
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