MAVLinkMobilityBase
Extends: MovingMobilityBase
Description
Base module for mobility modules that want to implement mobility using a simulated SITL instance.
During the OMNeT++ simulation initialization phases this module will instantiate a SITL instance and connect to it. This module will them be responsible for receiving telemetry and sending messages to the simulated vehicle.
This is a base module and should not be used directly in a simulation. It is meant to be used as a base for other modules that want to implement realistic mobility using a SITL instance.
This and all child modules require the coordinateSystemModule parameter to be set. This is because a coordinate system is required to translate geographical coordinates to scene coordinates. By default the coordinateSystemModule is set to "coordinateSystem" so all you need to do is include a IGeographicCoordinateSystem module in your simulation. The showcase simulations are already set up with a module like this.
This module works best paired with the inet::RealTimeScheduler. It will guarantee that OMNeT is syncronized with the SITL instances are syncronized with OMNeT as both simulations will run at real time. You can use this module without using the real time scheduler but the synchronicity guarantee will be off. If you want to run the simulation at aproximately real time you should set the playback time to "1 / mobility animation speed". If you are observing errors related to simulation time you should try removing inet::RealTimeScheduler
Parameters
| Name | Type | Unit | Default value | Description |
|---|---|---|---|---|
| systemId | int | 235 | System ID of this GCS. You do not need to change this unless you are trying to connect to the SITL instance with another GCS software that uses this ID |
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| componentId | int | 235 | Component ID of this GCS. You do not need to change this unless you are trying to connect to the SITL instance with another GCS software that uses this ID |
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| targetSystem | int | -1 | systemId of this vehicle instance. This is a unique identifier of the simulated vehicle instance. You should take care not to repeat this ID if your simulation contains more than on MAVLinkMobility vehicle. By default will use -1, which sets the targetSystem to a unique ID. Be careful as this might conflict with other module's custom targetSystems. |
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| targetComponent | int | 1 | componentId of this vehicle instance. Generally can be left as is. | |
| vehicleType | int | 1 | MAVLink type of vehicle that this class represents COPTER=1 PLANE=2 ROVER=4 |
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| paramPath | string | Path for the parameters for this vehicle. Default parameters can be found for your vehicle type here. Be aware that incorrect parameters can prevent this vehicle from working. |
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| basePort | int | 5505 | Base port for the SITL simulators. The actual PORT the simulators will be run is basePort + (targetSystem * 10) where targetSystem is the ID of the vehicle being simulated. If you don't want port comflicts set the same value for ALL MAVLink mobility modules and use different targetSystem for each of them. Or don't set basePort or targetSystem at all, the modules will automatically figura out ports that don't cause conflict. |
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| copterSimulatorPath | string | Path to the ArduCopter binary. Used to run simulator instances for this vehicle A stable version can be downloaded from: https://firmware.ardupilot.org/Tools/MissionPlanner/sitl/CopterStable/ (WINDOWS) https://firmware.ardupilot.org/Copter/stable/SITL_x86_64_linux_gnu/ (LINUX) |
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| planeSimulatorPath | string | Path to the ArduPlane binary. Used to run simulator instances for this vehicle A stable version can be downloaded from: https://firmware.ardupilot.org/Tools/MissionPlanner/sitl/PlaneStable/ (WINDOWS) https://firmware.ardupilot.org/Plane/stable/SITL_x86_64_linux_gnu/ (LINUX) |
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| roverSimulatorPath | string | // Path to the ArduRover binary. Used to run simulator instances for this vehicle A stable version can be downloaded from: https://firmware.ardupilot.org/Tools/MissionPlanner/sitl/RoverStable/ (WINDOWS) https://firmware.ardupilot.org/Rover/stable/SITL_x86_64_linux_gnu/ (LINUX) Path to the Rover binary. Used to run simulator instances for this vehicle |
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| initialLatitude | double | deg | -35.36326015deg | Latitude of the initial position of the drone. The default value is the default home of the SITL simulator |
| initialLongitude | double | deg | 149.16523839deg | Longitude of the initial position of the drone. The default value is the default home of the SITL simulator |
| initialAltitude | double | m | 0m | Altitude of the initial position of the drone. |
| waitUntilReady | bool | false | Waits until the SITL vehicle is ready to arm before the simulation is able to start. Warning: If this option is set to true it may look like the simulation has crashed on startup. This is because, to my knowledge, the only way of preventing the simulation from starting before the vehicle is ready to arm is to intetionally freeze the module's initialization. Warning: This freeze may last for several minutes, depending on how many vehicles are being initiated and your machine's hardware. |