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218 lines
9.1 KiB
Markdown
218 lines
9.1 KiB
Markdown
# FlightGear 仿真
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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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[FlightGear](https://wiki.flightgear.org/Flight_Dynamics_Model) is a flight simulator with powerful [FDM engines](https://wiki.flightgear.org/Flight_Dynamics_Model).
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This allows FlightGear to simulate rotorcraft under various meteorological conditions (which is why the bridge was originally developed by [ThunderFly s.r.o.](https://www.thunderfly.cz/)).
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This page describes FlightGear's single-vehicle use in SITL.
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For information about multi-vehicle use see: [Multi-Vehicle Simulation with FlightGear](../sim_flightgear/multi_vehicle.md).
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**Supported Vehicles:** Autogyro, Plane, Rover.
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<lite-youtube videoid="iqdcN5Gj4wI" title="[ThunderFly] PX4 SITL with Flightgear, Rascal110 - electric version"/>
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[](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoiZ3JhcGggTFI7XG4gIEZsaWdodEdlYXIgLS0-IEZsaWdodEdlYXItQnJpZGdlO1xuICBGbGlnaHRHZWFyLUJyaWRnZSAtLT4gTUFWTGluaztcbiAgTUFWTGluayAtLT4gUFg0X1NJVEw7XG5cdCIsIm1lcm1haWQiOnsidGhlbWUiOiJkZWZhdWx0In0sInVwZGF0ZUVkaXRvciI6ZmFsc2V9)
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<!-- Original mermaid graph
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graph LR;
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FlightGear-- >FlightGear-Bridge;
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FlightGear-Bridge-- >MAVLink;
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MAVLink-- >PX4_SITL;
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-->
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:::info
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See [Simulation](../simulation/index.md) for general information about simulators, the simulation environment, and simulation configuration (e.g. supported vehicles).
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:::
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## Installation (Ubuntu Linux)
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:::info
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These instructions were tested on Ubuntu 18.04
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:::
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1. Install the usual [Development Environment on Ubuntu LTS / Debian Linux](../dev_setup/dev_env_linux_ubuntu.md).
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2. Install FlightGear:
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```sh
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sudo add-apt-repository ppa:saiarcot895/flightgear
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sudo apt update
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sudo apt install flightgear
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```
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This installs the latest stable FlightGear version from the PAA repository along with the FGdata package.
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:::tip
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For some models (e.g. those with electric engines) the daily build with the newest features may be necessary.
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Install this using the [daily build PPA](https://launchpad.net/~saiarcot895/+archive/ubuntu/flightgear-edge).
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:::
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3. Check that you are able to run FlightGear:
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```sh
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fgfs --launcher
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```
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4. Set write permissions to the **Protocols** folder in the FlightGear installation directory:
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```sh
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sudo chmod a+w /usr/share/games/flightgear/Protocol
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```
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Setting the permissions is required because the PX4-FlightGear-Bridge puts the communication definition file here.
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Additional installation instructions can be found on [FlightGear wiki](https://wiki.flightgear.org/Howto:Install_Flightgear_from_a_PPA).
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## Running the Simulation
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Run a simulation by starting PX4 SITL, specifying the airframe configuration of your choice.
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The easiest way to do this is to open a terminal in the root directory of the PX4 _PX4-Autopilot_ repository and call `make` for the desired target.
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For example, to start a plane simulation :
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```sh
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cd /path/to/PX4-Autopilot
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make px4_sitl_nolockstep flightgear_rascal
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```
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The supported vehicles and `make` commands are listed below (click on the links to see the vehicle images).
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| Vehicle | 通信 |
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| ------------------------------------------------------------------------------------------------------------ | -------------------------------------------- |
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| [Standard Plane](../sim_flightgear/vehicles.md#standard-plane) | `make px4_sitl_nolockstep flightgear_rascal` |
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| [Ackermann vehicle (UGV/Rover)](../sim_flightgear/vehicles.md#ackerman-vehicle-ugv-rover) | `make px4_sitl_nolockstep flightgear_tf-r1` |
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| [Autogyro](../sim_flightgear/vehicles.md#autogyro) | `make px4_sitl_nolockstep flightgear_tf-g1` |
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The commands above launch a single vehicle with the full UI.
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_QGroundControl_ should be able to automatically connect to the simulated vehicle.
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:::info
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For the full list of FlightGear build targets (highlighted) run:
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```sh
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make px4_sitl_nolockstep list_vmd_make_targets | grep flightgear_
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```
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For additional information see: [FlightGear Vehicles](../sim_flightgear/vehicles.md) (this includes information about "unsupported" vehicles, and adding new vehicles).
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:::
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:::info
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The [Installing Files and Code](../dev_setup/dev_env.md) guide is a useful reference if there are build errors.
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:::
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## Taking it to the Sky
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The `make` commands mentioned above first build PX4 and then run it along with the FlightGear simulator.
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Once the PX4 has started it will launch the PX4 shell as shown below.
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You must select enter to get the command prompt.
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```sh
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______ __ __ ___
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| ___ \ \ \ / / / |
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| |_/ / \ V / / /| |
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| __/ / \ / /_| |
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| | / /^\ \ \___ |
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\_| \/ \/ |_/
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px4 starting.
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INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
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INFO [param] selected parameter default file eeprom/parameters_1034
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I'm Mavlink to FlightGear Bridge
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Target Bridge Freq: 200, send data every step: 1
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4
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5 -1
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7 -1
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2 1
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4 1
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[param] Loaded: eeprom/parameters_1034
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INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
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INFO [simulator] Waiting for simulator to accept connection on TCP port 4560
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INFO [simulator] Simulator connected on TCP port 4560.
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INFO [commander] LED: open /dev/led0 failed (22)
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INFO [commander] Mission #3 loaded, 9 WPs, curr: 8
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INFO [mavlink] mode: Normal, data rate: 4000000 B/s on udp port 18570 remote port 14550
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INFO [airspeed_selector] No airspeed sensor detected. Switch to non-airspeed mode.
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INFO [mavlink] mode: Onboard, data rate: 4000000 B/s on udp port 14580 remote port 14540
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INFO [mavlink] mode: Onboard, data rate: 4000 B/s on udp port 14280 remote port 14030
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INFO [logger] logger started (mode=all)
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INFO [logger] Start file log (type: full)
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INFO [logger] Opened full log file: ./log/2020-04-28/22_03_36.ulg
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INFO [mavlink] MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)
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INFO [px4] Startup script returned successfully
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pxh> StatsHandler::StatsHandler() Setting up GL2 compatible shaders
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Now checking for plug-in osgPlugins-3.4.1/osgdb_nvtt.so
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PX4 Communicator: PX4 Connected.
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pxh>
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```
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The console will print out status as PX4 loads the airframe-specific initialization and parameter files, wait for (and connect to) the simulator.
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Once there is an INFO print that [ecl/EKF] is `commencing GPS fusion` the vehicle is ready to arm.
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At this point, you should see a FlightGear window with some view of aircraft.
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:::info
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You can change the view by pressing **Ctrl+V**.
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:::
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You can bring it into the air by typing:
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```sh
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pxh> commander takeoff
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```
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## Usage/Configuration Options
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You can tune your FG installation/settings by the following environment variables:
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- `FG\_BINARY` - absolute path to FG binary to run. (It can be an AppImage)
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- `FG\_MODELS\_DIR` - absolute path to the folder containing the manually-downloaded aircraft models which should be used for simulation.
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- `FG\_ARGS\_EX` - any additional FG parameters.
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<a id="frame_rate"></a>
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### Display the frame rate
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In FlightGear you can display the frame rate by enabling it in: **View > View Options > Show frame rate**.
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### Set Custom Takeoff Location
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Takeoff location in SITL FlightGear can be set using additional variables.
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Setting the variable will override the default takeoff location.
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The variables which can be set are as follows: `--airport`, `--runway`, and `--offset-distance`.
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Other options can be found on [FlightGear wiki](https://wiki.flightgear.org/Command_line_options#Initial_Position_and_Orientation)
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例如：
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```sh
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FG_ARGS_EX="--airport=PHNL" make px4_sitl_nolockstep flightgear_rascal
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```
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The example above starts the simulation on the [Honolulu international airport](https://wiki.flightgear.org/Suggested_airports)
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### Using a Joystick
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Joystick and thumb-joystick are supported through _QGroundControl_ ([setup instructions here](../simulation/index.md#joystick-gamepad-integration)).
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The joystick input in FlightGear should be disabled in otherwise there will be a "race condition" between the FG joystick input and PX4 commands.
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## Extending and Customizing
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To extend or customize the simulation interface, edit the files in the **Tools/simulation/flightgear/flightgear_bridge** folder.
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The code is available in the [PX4-FlightGear-Bridge repository](https://github.com/ThunderFly-aerospace/PX4-FlightGear-Bridge) on Github.
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## 更多信息
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- [PX4-FlightGear-Bridge readme](https://github.com/ThunderFly-aerospace/PX4-FlightGear-Bridge)
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