From bf4daef8b5df0fb1015bafdbb60de284d066232e Mon Sep 17 00:00:00 2001 From: default Date: Wed, 11 Feb 2026 03:09:45 +0000 Subject: [PATCH] Run Sim SH Update --- scripts/run_autonomous.sh | 19 ++++++++++++------- scripts/run_simulation.sh | 4 +++- 2 files changed, 15 insertions(+), 8 deletions(-) diff --git a/scripts/run_autonomous.sh b/scripts/run_autonomous.sh index b029a28..ff3aa08 100755 --- a/scripts/run_autonomous.sh +++ b/scripts/run_autonomous.sh @@ -88,13 +88,18 @@ print_success "Gazebo running (PID: $GZ_PID)" print_info "Starting ArduPilot SITL..." cd ~/ardupilot -# Build SITL command - always use --no-mavproxy for autonomous mode -# Our controller connects directly to SITL on port 5760 -# MAVProxy console conflicts with our controller's connection -SITL_ARGS="-v ArduCopter -f gazebo-iris --model JSON -I0 --no-mavproxy" +# Build SITL command +# We enable MAVProxy (--console --map) for visualization +# MAVProxy will sit between SITL and our controller +# SITL -> TCP:5760 -> MAVProxy -> UDP:14550 (GCS) +# -> UDP:14551 (Autonomous Controller) +SITL_ARGS="-v ArduCopter -f gazebo-iris --model JSON -I0" +SITL_ARGS="$SITL_ARGS --console --map" -# Add output port for external monitoring (e.g., QGroundControl on 14550) -SITL_ARGS="$SITL_ARGS --out 127.0.0.1:14550" +# Add output ports +# 14550: External GCS (QGroundControl) +# 14551: Autonomous Controller +SITL_ARGS="$SITL_ARGS --out 127.0.0.1:14550 --out 127.0.0.1:14551" # Check if custom param file exists PARAM_FILE="$PROJECT_DIR/config/ardupilot_gps_denied.parm" @@ -128,7 +133,7 @@ print_info "Mission: $MISSION" # Wait a bit more, then start controller with retry sleep 5 -python3 "$PROJECT_DIR/src/autonomous_controller.py" --mission "$MISSION" & +python3 "$PROJECT_DIR/src/autonomous_controller.py" --mission "$MISSION" --connection "udp:127.0.0.1:14551" & CTRL_PID=$! print_success "Autonomous Controller started (PID: $CTRL_PID)" diff --git a/scripts/run_simulation.sh b/scripts/run_simulation.sh index 7b82ae5..117a45d 100755 --- a/scripts/run_simulation.sh +++ b/scripts/run_simulation.sh @@ -241,4 +241,6 @@ echo "" mavproxy.py \ --master tcp:127.0.0.1:5760 \ --sitl 127.0.0.1:5501 \ - --out udp:127.0.0.1:14550 + --out udp:127.0.0.1:14550 \ + --console \ + --map