Simulation Ardupilot flight control firmware
The main configuration write about simulation environment on Linux and is connected to the ground station side windows, had to use simulation, have long wanted to configure, it has been to no avail, after all, are also considered today run out, write down the record about. Above:
The main reference csdn official website and Motown Amidst the chiefs of the article, and bow again.
Environment is window10 + ubuntu virtual machine
first is to install the necessary tools
sudo apt-get install python-dev dos2unix python-wxgtk2.8 python-matplotlib python-opencv python-pip g++ g++-4.7 gawk git ccache
sudo pip install pymavlink
sudo pip install mavproxy
The code is configured to obtain ardupilot
git clone https://github.com/ArduPilot/ardupilot
cd ardupilot
git submodule update --init --recursive
carried out
Tools/environment_install/install-prereqs-ubuntu.sh -y
. ~/.profile
Enter the directory
cd ~/ardupilot/ArduCopter
The following figure appears, is nearing completion, here for the first time to run quite a long time, slowly and so, after loading can be done to simulate the
../Tools/autotest/sim_vehicle.py --map --console
Process is very lengthy 
Once complete, you can enter the simulation control interface, and the process I may be wrong, the last map does not appear, but does not affect, can be monitored through the windows of the ground station.
With a ground station is very simple, first get the windows of IP, and then enter the command to open the post-simulation
output add 你的IP:14550
Open windows and the ground station, select UDP connections, and to view the status of the various flight control parameters slightly.
Common Command:
unlock arm throttle
oiling rc 3 1800another so the three-way rc 1/2/3/4 数值
mode conversion mode landor mode according to the code as mode 9
part of common mode as follows:
悬停模式：mode LOITER
自稳模式：mode STABILIZE
悬停着落：mode LAND
返航模式：mode RTL
绕圈模式：mode CIRCLE
自动模式：mode AUTO
刹车模式：mode BRAKE
Then you can play the happiness of the reboot reboot, the command can Quguan network look, very good, oh.
