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401 lines
18 KiB
Markdown
401 lines
18 KiB
Markdown
# jMAVSim з SITL
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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 and may be removed in future releases.
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Дивіться [Встановлення інструментарію](../dev_setup/dev_env.md) для інформації про середовища та інструменти, що підтримуються основною командою розробників.
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:::
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jMAVSim is a simple multirotor/Quad simulator that allows you to fly _copter_ type vehicles running PX4 around a simulated world.
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Його легко налаштувати і можна використовувати для перевірки того, що ваш апарат може злітати, летіти, приземлятися і належним чином реагувати на різні несправності (наприклад, несправність GPS).
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<strong>Supported Vehicles:</strong>
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- Quad
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Ця тема показує, як налаштувати jMAVSim для підключення до SITL версії PX4.
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:::tip
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jMAVSim can also be used for HITL Simulation ([as shown here](../simulation/hitl.md#jmavsim-quadrotor-only)).
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:::
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## Встановлення
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jMAVSim requires JDK 17 or later.
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On Ubuntu and Windows, the [standard development environment setup](../dev_setup/dev_env.md) scripts install all required dependencies including Java.
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On macOS, you need to install Java manually as shown below.
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### macOS
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jMAVSim requires OpenJDK 17 or later.
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Install it via Homebrew:
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```sh
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brew install openjdk@17
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```
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Homebrew installs OpenJDK but does not link it into your `PATH`, so you need to set `JAVA_HOME` for jMAVSim to find it.
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Add this to your shell profile (e.g. `~/.zshrc`):
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```sh
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export JAVA_HOME=$(/usr/libexec/java_home -v 17)
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```
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## Середовище симуляції
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Симуляція програмного забезпечення в петлі виконує повну систему на комп'ютері та моделює автопілот.
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Він підключається через локальну мережу до симулятора.
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Вигляд налаштування виглядає наступним чином:
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[](https://mermaid-js.github.io/mermaid-live-editor/#/edit/eyJjb2RlIjoiZ3JhcGggTFI7XG4gIFNpbXVsYXRvci0tPk1BVkxpbms7XG4gIE1BVkxpbmstLT5TSVRMOyIsIm1lcm1haWQiOnsidGhlbWUiOiJkZWZhdWx0In0sInVwZGF0ZUVkaXRvciI6ZmFsc2V9)
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<!-- original graph
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graph LR;
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Simulator-- >MAVLink;
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MAVLink-- >SITL;
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-->
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## Запуск SITL
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After ensuring that the [simulation prerequisites](../dev_setup/dev_env.md) are installed on the system, just launch: The convenience make target will compile the POSIX host build and run the simulation.
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```sh
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make px4_sitl_default jmavsim
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```
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Це запустить консоль PX4 як показано нижче:
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```sh
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[init] shell id: 140735313310464
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[init] task name: px4
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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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Ready to fly.
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pxh>
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```
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It will also bring up a window showing a 3D view of the [jMAVSim](https://github.com/PX4/jMAVSim) simulator:
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## Підйом у небо
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Система почне друкувати інформацію про статус.
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You will be able to start flying once you have a position lock (shortly after the console displays the message: _EKF commencing GPS fusion_).
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Щоб злітіти, введіть наступне у консоль:
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```sh
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pxh> commander takeoff
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```
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You can use _QGroundControl_ to fly a mission or to connect to a [joystick](#using-a-joystick).
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## Використання/Налаштування
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Options that apply to all simulators are covered in the top level [Simulation](../simulation/index.md#sitl-simulation-environment) topic (some of these may be duplicated below).
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### Імітація відмови датчика/обладнання
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[Simulate Failsafes](../simulation/failsafes.md) explains how to trigger safety failsafes like GPS failure and battery drain.
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### Встановлення власного місця зльоту
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The default takeoff location in can be overridden using the environment variables: `PX4_HOME_LAT`, `PX4_HOME_LON`, and `PX4_HOME_ALT`.
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Наприклад, щоб встановити широту, довготу та висоту:
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```sh
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export PX4_HOME_LAT=28.452386
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export PX4_HOME_LON=-13.867138
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export PX4_HOME_ALT=28.5
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make px4_sitl_default jmavsim
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```
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### Зміна швидкості симуляції
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The simulation speed can be increased or decreased with respect to realtime using the environment variable `PX4_SIM_SPEED_FACTOR`.
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To run at double real-time:
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```sh
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PX4_SIM_SPEED_FACTOR=2 make px4_sitl_default jmavsim
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```
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To run at half real-time:
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```sh
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PX4_SIM_SPEED_FACTOR=0.5 make px4_sitl_default jmavsim
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```
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To apply a factor to all SITL runs in the current session, use `EXPORT`:
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```sh
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export PX4_SIM_SPEED_FACTOR=2
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make px4_sitl_default jmavsim
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```
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### Використання джойстика
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Joystick and thumb-joystick support are supported through _QGroundControl_ ([setup instructions here](../simulation/index.md#joystick-gamepad-integration)).
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### Моделювання Wifi Дрона
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Є спеціальна ціль для моделювання безпілотника, підключеного через Wifi до локальної мережі:
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```sh
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make broadcast jmavsim
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```
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Симулятор транслює свою адресу в локальній мережі так, як це робив би справжній безпілотник.
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### Запуск JMAVSim та PX4 окремо
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Ви можете запустити JMAVSim та PX4 окремо:
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```sh
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./Tools/simulation/jmavsim/jmavsim_run.sh -l
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make px4_sitl none
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```
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Це дозволяє швидший цикл тестування (перезапуск jMAVSim займає значно більше часу).
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### Режим без інтерфейсу
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To start jMAVSim without the GUI, set the env variable `HEADLESS=1` as shown:
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```sh
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HEADLESS=1 make px4_sitl jmavsim
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```
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## Симуляція кількох рухомих засобів
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JMAVSim can be used for multi-vehicle simulation: [Multi-Vehicle Sim with JMAVSim](../sim_jmavsim/multi_vehicle.md).
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## Lockstep
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PX4 SITL and jMAVSim have been set up to run in _lockstep_.
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What this means is that PX4 and the simulator run at the same speed, and therefore can react appropriately to sensor and actuator messages.
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Lockstep makes it possible to [change the simulation speed](#change-simulation-speed), and also to pause it in order to step through code.
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#### Lockstep Sequence
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The sequence of steps for lockstep are:
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1. The simulation sends a sensor message [HIL_SENSOR](https://mavlink.io/en/messages/common.html#HIL_SENSOR) including a timestamp `time_usec` to update the sensor state and time of PX4.
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2. PX4 receives this and does one iteration of state estimation, controls, etc. and eventually sends an actuator message [HIL_ACTUATOR_CONTROLS](https://mavlink.io/en/messages/common.html#HIL_ACTUATOR_CONTROLS).
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3. The simulation waits until it receives the actuator/motor message, then simulates the physics and calculates the next sensor message to send to PX4 again.
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The system starts with a "freewheeling" period where the simulation sends sensor messages including time and therefore runs PX4 until it has initialized and responds with an actuator message.
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#### Disabling Lockstep
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The lockstep simulation can be disabled if, for example, SITL is to be used with a simulator that does not support this feature.
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In this case the simulator and PX4 use the host system time and do not wait on each other.
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To disable lockstep in:
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- PX4, run `make px4_sitl_default boardconfig` and set the `BOARD_NOLOCKSTEP` "Force disable lockstep" symbol which is located under toolchain.
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- jMAVSim, remove `-l` in [sitl_run.sh](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/simulation/jsbsim/sitl_run.sh#L40), or make sure otherwise that the java binary is started without the `-lockstep` flag.
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<!-- Relevant lines in sitl_run.sh are: -->
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<!-- # Start Java simulator -->
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<!-- "$src_path"/Tools/simulation/jmavsim/jmavsim_run.sh -r 250 -l & SIM_PID=$! -->
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## Розширення та персоналізація
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To extend or customize the simulation interface, edit the files in the **Tools/jMAVSim** folder.
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The code can be accessed through the[jMAVSim repository](https://github.com/px4/jMAVSim) on Github.
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:::info
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The build system enforces the correct submodule to be checked out for all dependencies, including the simulator.
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Це не перезапише зміни в файлах у каталозі, проте, коли ці зміни будуть зафіксовані, підмодуль повинен бути зареєстрований у репозиторії Firmware з новим хешем коміту.
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To do so, `git add Tools/jMAVSim` and commit the change.
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Це оновить хеш GIT симулятора.
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:::
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## Взаємодія з ROS
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The simulation can be [interfaced to ROS](../simulation/ros_interface.md) the same way as onboard a real vehicle.
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## Важливі файли
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- The startup scripts are discussed in [System Startup](../concept/system_startup.md).
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- The simulated root file system ("`/`" directory) is created inside the build directory here: `build/px4_sitl_default/rootfs`.
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## Display-Only Mode
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jMAVSim can run as a display-only renderer for other simulators (like [SIH](../sim_sih/index.md)), with its internal physics disabled.
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In this mode, jMAVSim receives vehicle position via MAVLink and only renders the 3D view.
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To use jMAVSim as a display for SIH running in SITL:
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```sh
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# Start SIH first
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make px4_sitl_sih sihsim_quadx
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# In another terminal, start jMAVSim in display-only mode
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./Tools/simulation/jmavsim/jmavsim_run.sh -p 19410 -u -q -o # 19410 is the default SIH display port
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```
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For SIH running on flight controller hardware:
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```sh
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./Tools/simulation/jmavsim/jmavsim_run.sh -q -d /dev/ttyACM0 -b 2000000 -o
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```
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Use `-a` for airplane display or `-t` for tailsitter display.
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## Command-Line Reference
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The `jmavsim_run.sh` launch script accepts the following flags:
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| Flag | Опис |
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| ------------- | -------------------------------------------------------------------------------------------- |
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| `-b <rate>` | Serial baud rate (default: 921600) |
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| `-d <device>` | Serial device path (e.g., `/dev/ttyACM0`) |
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| `-u` | Use UDP connection instead of serial |
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| `-i <id>` | Simulated MAVLink system ID |
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| `-p <port>` | UDP port (default: 14560) |
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| `-q` | No interactive console |
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| `-s <port>` | TCP serial port |
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| `-r <rate>` | Render rate in Hz |
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| `-l` | Enable lockstep |
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| `-o` | Display-only mode (disable physics, render only) |
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| `-a` | Use airplane model |
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| `-t` | Use tailsitter model |
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| `HEADLESS=1` | Environment variable: run without GUI window |
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## How jMAVSim Works
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jMAVSim is a Java-based lightweight simulator that communicates with PX4 via MAVLink HIL (Hardware-In-the-Loop) messages.
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In normal mode:
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1. PX4 sends actuator commands via [HIL_ACTUATOR_CONTROLS](https://mavlink.io/en/messages/common.html#HIL_ACTUATOR_CONTROLS).
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2. jMAVSim runs its physics engine to compute the vehicle state.
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3. jMAVSim sends sensor data back via [HIL_SENSOR](https://mavlink.io/en/messages/common.html#HIL_SENSOR) and [HIL_GPS](https://mavlink.io/en/messages/common.html#HIL_GPS).
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In **display-only mode** (`-o` flag), jMAVSim disables its physics engine and only reads [HIL_STATE_QUATERNION](https://mavlink.io/en/messages/common.html#HIL_STATE_QUATERNION) messages to render the vehicle position.
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This allows it to visualize vehicles from other simulators like SIH.
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jMAVSim supports [lockstep synchronization](#lockstep) with PX4 (enabled with `-l` flag), ensuring deterministic simulation results.
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## Keyboard Shortcuts
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Camera modes in the jMAVSim 3D view:
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| Key | Camera Mode |
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| -------------------------------- | ------------------------------------------------------- |
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| **F** | First person (attached to vehicle) |
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| **S** | Stationary (fixed position) |
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| **G** | Gimbal (follows vehicle orientation) |
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| **(default)** | Third person follow |
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## Усунення проблем
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### java.long.NoClassDefFoundError
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```sh
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Exception in thread "main" java.lang.NoClassDefFoundError: javax/vecmath/Tuple3d
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at java.base/java.lang.Class.forName0(Native Method)
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at java.base/java.lang.Class.forName(Class.java:374)
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at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:56)
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Caused by: java.lang.ClassNotFoundException: javax.vecmath.Tuple3d
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at java.base/java.net.URLClassLoader.findClass(URLClassLoader.java:466)
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at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:566)
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at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:499)
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... 3 more
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Exception in thread "main" java.lang.NoClassDefFoundError: javax/vecmath/Tuple3d
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at java.base/java.lang.Class.forName0(Native Method)
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at java.base/java.lang.Class.forName(Class.java:374)
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at org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main(JarRsrcLoader.java:56)
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Caused by: java.lang.ClassNotFoundException: javax.vecmath.Tuple3d
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at java.base/java.net.URLClassLoader.findClass(URLClassLoader.java:466)
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at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:566)
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at java.base/java.lang.ClassLoader.loadClass(ClassLoader.java:499)
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```
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This error should no longer occur once the jMAVSim submodule is [updated to newer jar libs](https://github.com/PX4/jMAVSim/pull/119) and Java 11 or Java 14 should work fine.
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### Відбулася незаконна відображувальна операція доступу
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Це попередження можна ігнорувати (ймовірно, воно буде відображено, але симуляція все одно буде працювати правильно).
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```sh
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WARNING: An illegal reflective access operation has occurred
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WARNING: Illegal reflective access by javax.media.j3d.JoglPipeline (rsrc:j3dcore.jar) to method sun.awt.AppContext.getAppContext()
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WARNING: Please consider reporting this to the maintainers of javax.media.j3d.JoglPipeline
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WARNING: Use --illegal-access=warn to enable warnings of further illegal reflective access operations
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WARNING: All illegal access operations will be denied in a future release
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Inconsistency detected by ld.so: dl-lookup.c: 112: check_match: Assertion version->filename == NULL || ! _dl_name_match_p (version->filename, map)' failed!
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```
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### java.awt.AWTError: Assistive Technology not found: org.GNOME.Accessibility.AtkWrapper
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```sh
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Виключення в потоці "main" java.lang.reflect.InvocationTargetException
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в sun.reflect.NativeMethodAccessorImpl.invoke0 (Нативний метод)
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в sun.reflect.NativeMethodAccessorImpl.invoke (NativeMethodAccessorImpl.java:62)
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в sun.reflect.DelegatingMethodAccessorImpl.invoke (DelegatingMethodAccessorImpl.java:43)
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в java.lang.reflect.Method.invoke (Method.java:498)
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в org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader.main (JarRsrcLoader.java:58)
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Викликано: java.awt.AWTError: Не знайдено технологію сприяння: org.GNOME.Accessibility.AtkWrapper
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в java.awt.Toolkit.loadAssistiveTechnologies (Toolkit.java:807)
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в java.awt.Toolkit.getDefaultToolkit (Toolkit.java:886)
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в java.awt.Window.getToolkit (Window.java:1358)
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в java.awt.Window.init (Window.java:506)
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в java.awt.Window. (Window.java:537)
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в java.awt.Frame. (Frame.java:420)
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в java.awt.Frame. (Frame.java:385)
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в javax.swing.JFrame. (JFrame.java:189)
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в me.drton.jmavsim.Visualizer3D. (Visualizer3D.java:104)
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в me.drton.jmavsim.Simulator. (Simulator.java:157)
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в me.drton.jmavsim.Simulator.main (Simulator.java:678)
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```
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Якщо ви бачите цю помилку, спробуйте цей обхідний шлях:
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Edit the **accessibility.properties** file:
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```sh
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sudo gedit /etc/java-8-openjdk/accessibility.properties
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```
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та закоментуйте рядок, вказаний нижче:
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```sh
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#assistive_technologies=org.GNOME.Accessibility.AtkWrapper
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```
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For more info, check [this GitHub issue](https://github.com/PX4/PX4-Autopilot/issues/9557).
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A contributor found the fix in [askubuntu.com](https://askubuntu.com/questions/695560/assistive-technology-not-found-awterror).
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### Виняток у потоці "main" java.lang.UnsupportedClassVersionError
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При компіляції jMAVsim ви можливо зіткнетеся з наступною помилкою:
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```sh
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Exception in thread "main" java.lang.UnsupportedClassVersionError: me/drton/jmavsim/Simulator has been compiled by a more recent version of the Java Runtime (class file version 59.0), this version of the Java Runtime only recognizes class file versions up to 58.0
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```
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Ця помилка говорить вам, вам потрібна більш свіжа версія Java у вашому середовищі.
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Версія файлу класу 58 відповідає jdk14, версія 59 - jdk15, версія 60 - jdk 16 тощо.
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To fix it under macOS, install a newer OpenJDK via Homebrew:
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```sh
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brew install openjdk@17
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```
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