With Ardu SITL

Ardu SITL Installation

You have two options of the SITL installation:

Through docker
Through .exe (note: windows only)

With Docker

Note: we assume that you already have docker installed.

Open your console and write. (note: you may also need to write sudo before every command on Unix systems)

docker pull flurps1/asv-sitl

Run container with port 5760 (note: you can select another free port)

docker run -p 5760:5760 flurps1/asv-sitl

With .exe

Note: only for windows! If you have any problems with this SITL it is better to use docker

Download files from here and put them in any folder.
Change all .elf to .exe
Create a .bat file in the folder with name run_copter.bat.
Edit this file with a notepad and add code:

ArduCopter.exe -M+ -O55.2905802,61.6063891,191.303759999999,0 -s10 --uartA tcp:0 
rm logs

Run .bat file.
Now SITL is online.

How to connect to SITL with Asv.Mavlink library

Almost everything is similar to the virtual connection approach, but there are some key differences.

Copy all the code from here
Change

var cancel = new CancellationTokenSource(TimeSpan.FromSeconds(10), TimeProvider.System);

var cancel = new CancellationTokenSource(TimeSpan.FromSeconds(200), TimeProvider.System);

Change

var link = protocol.CreateVirtualConnection();

var router = protocol.CreateRouter("router");

After var router = protocol.CreateRouter("router"); add

router.AddTcpClientPort(p =>
{
    p.Host = "127.0.0.1";
    p.Port = 5760; // change 
});

Change

var identity = new MavlinkClientIdentity(1,2,3,4);

var identity = new MavlinkClientIdentity(2,3,1,1);

Note: TargetSystemId and TargetComponentId for Ardu SITL by default is 1

Delete everything after ArduCopter creation
Add code:

var called = 0;
arduCopter.Heartbeat.RawHeartbeat.Subscribe(p =>
{
    if (p is null)
    {
        return;
    }
    
    Console.WriteLine($"Heartbeat type: {p.Type}, Heartbeat baseMode: {p.BaseMode}");
    
    if (called != 20)
    {
        called++;
        return;
    }
    
    tcs.TrySetResult(p);
});

await tcs.Task;

This code catches first 20 heartbeat packages

Proper Output

Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81
Heartbeat type: MavTypeQuadrotor, Heartbeat baseMode: 81

Process finished with exit code 0.

Full code

using System.Collections.Immutable;
using Asv.Common;
using Asv.IO;
using Asv.Mavlink;
using Asv.Mavlink.Minimal;
using R3;

var tcs = new TaskCompletionSource<HeartbeatPayload>();
var cancel = new CancellationTokenSource(TimeSpan.FromSeconds(200), TimeProvider.System);
cancel.Token.Register(() => tcs.TrySetCanceled());

var protocol = Protocol.Create(builder =>
{
    builder.RegisterMavlinkV2Protocol();
    builder.Features.RegisterBroadcastFeature<MavlinkMessage>();
    builder.Formatters.RegisterSimpleFormatter();
});
        
var router = protocol.CreateRouter("router");

router.AddTcpClientPort(p =>
{
    p.Host = "127.0.0.1";
    p.Port = 5760;
});
        
var identity = new MavlinkClientIdentity(2,3,1,1);

var clientSeq = new PacketSequenceCalculator();
var clientCore = new CoreServices(
    router, 
    clientSeq, 
    null, 
    null, 
    new DefaultMeterFactory()
);

var deviceId = new MavlinkClientDeviceId("copter", identity);
var config = new VehicleClientDeviceConfig();

var arduCopter = new ArduCopterClientDevice(
    deviceId, 
    config, 
    ImmutableArray<IClientDeviceExtender>.Empty, 
    clientCore
);

var called = 0;
arduCopter.Heartbeat.RawHeartbeat.Subscribe(p =>
{
    if (p is null)
    {
        return;
    }
    
    Console.WriteLine($"Heartbeat type: {p.Type}, Heartbeat baseMode: {p.BaseMode}");
    
    if (called != 20)
    {
        called++;
        return;
    }
    
    tcs.TrySetResult(p);
});

await tcs.Task;

Last modified: 25 December 2024