PyArduPilotPlugin

Implementation of the communication protocol between ArduPilot SITL and a physics simulator. This project is particularly useful if you want to develop your own simulator and integrate it with ArduPilot.

Installation

pip install .

Usage

Run ArduPilot SITL with JSON SITL interface:

sim_vehicle.py -v ArduCopter -f gazebo-iris --mode JSON --console --map

Run script:

import time
from ArduPilotPlugin import ArduPilotPlugin

ap = ArduPilotPlugin()
ap.drain_unread_packets()

sim_time = time.time()
while True:
    dt = time.time() - sim_time
    ap.pre_update(sim_time=dt)
    ap.post_update(sim_time=dt, sensor_data=ap.SensorData())
    time.sleep(0.01)

Resources

This communication module has been rewritten in Python, based by the original C++ code from the Gazebo and ArduPilot projects.

• ardupilot_gazebo: ArduPilotPlugin.cpp
• ArduPilot: SIM_Gazebo.cpp
• ArduPilot JSON SITL interface: JSON SITL interface