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Ardupilot Update

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34
docs/architecture.md
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@@ -62,6 +62,34 @@ Data flow:
- DroneController receives telemetry, publishes to `/cmd_vel`
- GazeboBridge forwards to `/drone/cmd_vel` → Gazebo moves drone
### 4. ArduPilot SITL + Gazebo Mode (Three Terminals, Linux/WSL2)
```
Terminal 1 Terminal 2 Terminal 3
┌──────────────┐ ┌─────────────────┐ ┌────────────────────────┐
│ Gazebo + │ │ ArduPilot SITL │ │ run_ardupilot.py │
│ ArduPilot │◄──►│ sim_vehicle.py │ │ ┌──────────────────┐ │
│ Plugin │JSON│ + MAVProxy │◄───►│ │ MAVLinkBridge │ │
│ │ │ │ UDP │ │ DroneController │ │
│ ardupilot_ │ │ Flight Control │ │ │ RoverController │ │
│ drone.sdf │ │ + GCS │ │ └──────────────────┘ │
└──────────────┘ └─────────────────┘ └────────────────────────┘
```
Data flow:
- ArduPilot SITL sends motor commands → Gazebo plugin controls drone
- Gazebo plugin sends sensor data → ArduPilot SITL for state estimation
- MAVProxy outputs telemetry → MAVLinkBridge converts to ROS telemetry
- DroneController receives telemetry, publishes velocity commands
- MAVLinkBridge sends MAVLink commands → ArduPilot SITL executes
Key differences from simple Gazebo mode:
- Full ArduPilot flight controller (EKF, stabilization, failsafes)
- Real MAVLink protocol for commands and telemetry
- Support for all ArduPilot flight modes (GUIDED, LAND, etc.)
- Arming checks and safety features
- Compatible with ground control stations (QGroundControl, Mission Planner)
## Components
| File | Description |
@@ -71,12 +99,16 @@ Data flow:
| `simulation_host.py` | PyBullet physics server (UDP) |
| `run_bridge.py` | PyBullet bridge + controllers |
| `run_gazebo.py` | Gazebo bridge + controllers |
| `run_ardupilot.py` | **ArduPilot SITL** + MAVLink bridge |
| `mavlink_bridge.py` | MAVLink ↔ ROS 2 bridge |
| `drone_controller.py` | **Your landing algorithm** |
| `rover_controller.py` | Moving landing pad |
| `ros_bridge.py` | ROS-UDP bridge (used by run_bridge.py) |
| `gazebo_bridge.py` | Gazebo-ROS bridge (used by run_gazebo.py) |
| `gazebo/launch/drone_landing.launch.py` | ROS 2 launch file for Gazebo |
| `gazebo/worlds/drone_landing.sdf` | Gazebo world with drone + rover |
| `gazebo/launch/ardupilot_drone.launch.py` | ROS 2 launch file for ArduPilot |
| `gazebo/worlds/drone_landing.sdf` | Gazebo world with simple velocity control |
| `gazebo/worlds/ardupilot_drone.sdf` | Gazebo world with ArduPilot plugin |
## ROS 2 Topics

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@@ -0,0 +1,285 @@
# ArduPilot SITL + Gazebo Integration
This guide explains how to run the drone simulation with ArduPilot Software-In-The-Loop (SITL) and MAVProxy, providing a realistic flight controller stack.
## Overview
The ArduPilot integration replaces the simple velocity control with a full ArduPilot flight stack:
```
┌──────────────────┐ ┌─────────────────┐ ┌──────────────────┐
│ ArduPilot SITL │◄───►│ Gazebo + Plugin │◄───►│ MAVLink Bridge │
│ (Flight Control)│ JSON│ (Physics Sim) │ ROS │ + Controllers │
└──────────────────┘ └─────────────────┘ └──────────────────┘
▲ │
│ UDP │
│ ▼
┌──────────────────┐ ┌──────────────────┐
│ MAVProxy │◄────────────────────────────►│ DroneController │
│ (GCS) │ MAVLink Commands │ (Your Algorithm) │
└──────────────────┘ └──────────────────┘
```
## Components
| Component | Description |
|-----------|-------------|
| **ArduPilot SITL** | Full autopilot firmware running in simulation |
| **ardupilot_gazebo** | Plugin connecting Gazebo physics to ArduPilot |
| **MAVProxy** | Ground Control Station for monitoring/commands |
| **MAVLink Bridge** | ROS 2 node bridging MAVLink ↔ ROS topics |
| **Drone Controller** | Your landing algorithm |
## Prerequisites
### 1. ArduPilot SITL
Install ArduPilot development environment:
```bash
# Ubuntu/Debian
git clone https://github.com/ArduPilot/ardupilot.git ~/ardupilot
cd ~/ardupilot
git submodule update --init --recursive
Tools/environment_install/install-prereqs-ubuntu.sh -y
. ~/.profile
# Set environment
echo 'export PATH=$PATH:$HOME/ardupilot/Tools/autotest' >> ~/.bashrc
echo 'export ARDUPILOT_HOME=$HOME/ardupilot' >> ~/.bashrc
source ~/.bashrc
```
### 2. ArduPilot Gazebo Plugin
Install the ardupilot_gazebo plugin:
```bash
# For Gazebo Garden/Harmonic
git clone https://github.com/ArduPilot/ardupilot_gazebo.git ~/ardupilot_gazebo
cd ~/ardupilot_gazebo
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j4
# Add to Gazebo plugin path
echo 'export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH' >> ~/.bashrc
echo 'export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH' >> ~/.bashrc
source ~/.bashrc
```
### 3. pymavlink
```bash
pip install pymavlink
```
## Quick Start
### Option 1: Integrated Launch (Recommended)
This starts everything together:
```bash
# Terminal 1: Start Gazebo
ros2 launch gazebo/launch/ardupilot_drone.launch.py
# Terminal 2: Start SITL
cd ~/ardupilot
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console --map
# Terminal 3: Run bridge + controllers
python run_ardupilot.py --no-sitl --pattern circular
```
### Option 2: Manual Setup
```bash
# Terminal 1: Start Gazebo world
gz sim -r gazebo/worlds/ardupilot_drone.sdf
# Terminal 2: Start ArduPilot SITL
cd ~/ardupilot
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
# Terminal 3: Run MAVLink bridge + controllers
python run_ardupilot.py --no-sitl
```
### Option 3: Full Automatic
```bash
# Starts everything (requires SITL installed)
python run_ardupilot.py --pattern circular --console --map
```
## Flight Operations
### Using MAVProxy Commands
Once connected, use MAVProxy to control the drone:
```bash
# Set GUIDED mode for algorithm control
mode guided
# Arm motors
arm throttle
# Take off to 5 meters
takeoff 5
# Land
mode land
# Disarm
disarm
```
### Using the MAVLink Bridge API
From Python, you can control the drone directly:
```python
from mavlink_bridge import MAVLinkBridge
# Create bridge
bridge = MAVLinkBridge(sitl_port=14550)
# Arm and takeoff
bridge.set_mode('GUIDED')
bridge.arm()
bridge.takeoff(altitude=5.0)
# Land
bridge.land()
```
## Files
| File | Description |
|------|-------------|
| `mavlink_bridge.py` | ROS 2 ↔ MAVLink bridge |
| `run_ardupilot.py` | Integrated launcher |
| `gazebo/worlds/ardupilot_drone.sdf` | Gazebo world with ArduPilot plugin |
| `gazebo/launch/ardupilot_drone.launch.py` | ROS 2 launch file |
## Configuration
Edit `config.py` to adjust ArduPilot settings:
```python
ARDUPILOT = {
"vehicle": "ArduCopter", # ArduCopter, ArduPlane, APMrover2
"frame": "gazebo-iris", # Gazebo frame
"sitl_host": "127.0.0.1",
"sitl_port": 5760,
"mavproxy_port": 14550,
}
MAVLINK = {
"system_id": 1,
"component_id": 191,
"heartbeat_timeout": 5.0,
}
```
## Telemetry Format
The MAVLink bridge publishes telemetry in the same format as other modes:
```json
{
"imu": {
"orientation": {"roll": 0.0, "pitch": 0.0, "yaw": 0.0},
"angular_velocity": {"x": 0.0, "y": 0.0, "z": 0.0}
},
"altimeter": {
"altitude": 5.0,
"vertical_velocity": 0.0
},
"velocity": {"x": 0.0, "y": 0.0, "z": 0.0},
"position": {"x": 0.0, "y": 0.0, "z": 5.0},
"landing_pad": {
"relative_x": 0.5,
"relative_y": 0.2,
"distance": 4.8,
"confidence": 0.95
},
"battery": {"voltage": 12.6, "remaining": 100},
"armed": true,
"flight_mode": "GUIDED",
"connected": true
}
```
## Troubleshooting
### SITL Not Starting
```bash
# Check if SITL is installed
which sim_vehicle.py
# Set ArduPilot path
export ARDUPILOT_HOME=~/ardupilot
export PATH=$PATH:$ARDUPILOT_HOME/Tools/autotest
```
### Gazebo Plugin Not Found
```bash
# Check plugin path
echo $GZ_SIM_SYSTEM_PLUGIN_PATH
# Verify plugin exists
ls ~/ardupilot_gazebo/build/libArduPilotPlugin.so
```
### No MAVLink Connection
```bash
# Check if SITL is listening
netstat -tuln | grep 14550
# Test with mavlink console
python -c "from pymavlink import mavutil; c = mavutil.mavlink_connection('udpin:127.0.0.1:14550'); print(c.wait_heartbeat())"
```
### Drone Won't Arm
Common issues:
1. **Pre-arm checks failing** - Check MAVProxy console for errors
2. **GPS required** - In simulation, you may need to wait for GPS lock
3. **EKF not ready** - Wait for EKF to initialize
Disable pre-arm checks for testing (not recommended for real flights):
```
# In MAVProxy
param set ARMING_CHECK 0
```
## Flight Modes
| Mode | Description |
|------|-------------|
| **GUIDED** | Accept velocity/position commands from controller |
| **LOITER** | Hold position (GPS required) |
| **ALT_HOLD** | Maintain altitude, manual horizontal |
| **LAND** | Automatic landing |
| **STABILIZE** | Attitude stabilization only |
For autonomous landing, use **GUIDED** mode.
## Architecture Comparison
| Feature | Simple Gazebo | ArduPilot + Gazebo |
|---------|--------------|-------------------|
| Flight Controller | Velocity control | Full ArduPilot |
| Stabilization | Manual PD | Inbuilt EKF + PID |
| Flight Modes | None | All ArduPilot modes |
| Arming | Not required | Safety checks |
| Failsafes | None | Battery, GPS, etc. |
| MAVLink | No | Full protocol |
| GCS Support | No | QGC, Mission Planner |
| Realism | Low | High |

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@@ -7,6 +7,7 @@ Setup instructions for all supported platforms.
| Platform | Command |
|----------|---------|
| Ubuntu/Debian | `./setup/install_ubuntu.sh` |
| Ubuntu + ArduPilot | `./setup/install_ubuntu.sh --with-ardupilot` |
| Arch Linux | `./setup/install_arch.sh` |
| macOS | `./setup/install_macos.sh` |
| Windows | `.\setup\install_windows.ps1` |
@@ -28,6 +29,7 @@ python standalone_simulation.py
| **Standalone Simulation** | ✅ | ✅ | ✅ | ✅ | ✅ |
| **ROS 2** | ✅ | ⚠️ AUR | ❌ | ❌ | ✅ |
| **Gazebo** | ✅ | ⚠️ AUR | ❌ | ❌ | ✅ |
| **ArduPilot SITL** | ✅ | ⚠️ Manual | ❌ | ❌ | ✅ |
| **Full Mode** | ✅ | ⚠️ | ❌ | ❌ | ✅ |
| **GUI Support** | ✅ | ✅ | ✅ | ✅ | ✅ WSLg |
@@ -58,7 +60,18 @@ python standalone_simulation.py
**Installs:**
- ROS 2 (Humble or Jazzy based on Ubuntu version)
- Gazebo (ros-gz)
- Python packages: pybullet, numpy, pillow, pyinstaller
- Python packages: pybullet, numpy, pillow, pyinstaller, pymavlink
**With ArduPilot SITL (full flight controller):**
```bash
# Run installer with ArduPilot
./setup/install_ubuntu.sh --with-ardupilot
# This will also install:
# - ArduPilot SITL (~15-20 min build)
# - ArduPilot Gazebo plugin
# - MAVProxy
```
---
@@ -407,6 +420,84 @@ After installation, verify packages:
python -c "import pybullet; print('PyBullet OK')"
python -c "import numpy; print('NumPy OK')"
python -c "from PIL import Image; print('Pillow OK')"
python -c "from pymavlink import mavutil; print('pymavlink OK')"
```
All should print "OK".
---
## ArduPilot SITL Manual Setup
If you want to install ArduPilot SITL manually (without the install script):
### 1. Install ArduPilot
```bash
# Clone ArduPilot
git clone --recurse-submodules https://github.com/ArduPilot/ardupilot.git ~/ardupilot
cd ~/ardupilot
# Install prerequisites (Ubuntu)
Tools/environment_install/install-prereqs-ubuntu.sh -y
# Reload profile
. ~/.profile
# Build ArduCopter SITL
./waf configure --board sitl
./waf copter
```
### 2. Install ArduPilot Gazebo Plugin
```bash
# Clone plugin
git clone https://github.com/ArduPilot/ardupilot_gazebo.git ~/ardupilot_gazebo
cd ~/ardupilot_gazebo
# Build
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make -j$(nproc)
```
### 3. Set Environment Variables
Add to `~/.bashrc`:
```bash
# ArduPilot
export ARDUPILOT_HOME=$HOME/ardupilot
export PATH=$PATH:$ARDUPILOT_HOME/Tools/autotest
# ArduPilot Gazebo Plugin
export GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:$GZ_SIM_SYSTEM_PLUGIN_PATH
export GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:$GZ_SIM_RESOURCE_PATH
```
### 4. Test SITL
```bash
# Test ArduCopter SITL
cd ~/ardupilot
sim_vehicle.py -v ArduCopter --console --map
```
### 5. Run with Gazebo
```bash
# Terminal 1: Launch Gazebo
ros2 launch gazebo/launch/ardupilot_drone.launch.py
# Terminal 2: Start SITL
cd ~/ardupilot
sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
# Terminal 3: Run controllers
cd ~/simulation
source activate.sh
python run_ardupilot.py --no-sitl --pattern circular
```
For more details, see [ArduPilot Guide](ardupilot.md).