ArduPilot¶
We provide a custom fork of ArduPilot with tuned flight params built-in for our drones (real and sim) and support scripts.
Install¶
cd ~/src
git clone --recurse-submodules git@github.com:robotics-88/r88_ardupilot.git
cd r88_ardupilot
Tools/environment_install/install-prereqs-ubuntu.sh -y
export PATH=$PATH:$HOME/src/r88_ardupilot/Tools/autotest
export PATH=/usr/lib/ccache:$PATH
. ~/.profile
Note
For a long time, ArduPilot tools script installs a conflicting version of empy (conflicts with mavros). If you get em/empy errors, fix it with pip install empy==3.3.4. Recently it seems to install a conflicting version of setuptools. Fix it with pip install 'setuptools<66' --user.
Usage¶
To use in sim, run this for AirSim:
cd r88_ardupilot
./run_airsim.sh
And this for Gazebo:
cd r88_ardupilot
./run_gazebo.sh