Changes between Version 1 and Version 2 of simplefleet


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Timestamp:
Feb 11, 2019, 5:23:52 PM (21 months ago)
Author:
Sanahuja Guillaume
Comment:

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  • simplefleet

    v1 v2  
    33__NOTE__: For Flair version <= 0.2.1, see [wiki:simplefleet_old this page].
    44
    5 = Test du simulateur sur une flotte de 2 drones (avec motion capture) =
     5= Testing Flair on a fleet of 2 uavs example (using motion capture) =
    66
    7 Cette page explique comment compiler et tester un programme utilisant Fl-AIR et son simulateur. Celui-ci simule 2 drones x8 se déplaçant dans une salle de motion capture. Les drones effectuent une chorégraphie.
     7This page explains how to compile and test a program using Flair. It simulates 2 UAVs moving in a room with motion capture system. Uav are doing a choregraphy.
    88
    9 This demonstration is composed of a unique simulator program, which simulate 2 UAVs. The UAV program is also unique, but it is executed two times (with different command lines argument), one for time for each UAV. An argument is used by the program to distinguish the UAV id (1 or 2).
     9This demonstration is composed of a unique simulator program, which simulates 2 UAVs. The UAV program is also unique, but it is executed two times (with different command lines argument), one time for each UAV. An argument is used by the program to distinguish the UAV id (1 or 2).
    1010
    1111== Compilation ==
    1212
    13 Les programmes vont être compilés pour la cible et pour le PC. Pour cela le script ''cmake_codelite.sh'' va faire un projet !CodeLite pour le PC dans le répertoire ''build'' et un projet pour la cible dans le répertoire ''build_arm''.
    14 * compiler le simulateur
    15 {{{
    16 $ cd $FLAIR_ROOT/flair-src/demos/SimpleFleet/simulator
    17 $ $FLAIR_ROOT/flair-dev/scripts/cmake_codelite.sh
    18 $ cd build
    19 $ make -j4
    20 $ cd ../build_arm
    21 $ make -j4
    22 }}}
    23 * compiler le programme de commande
    24 {{{
    25 $ cd $FLAIR_ROOT/flair-src/demos/SimpleFleet/uav
    26 $ $FLAIR_ROOT/flair-dev/scripts/cmake_codelite.sh
    27 $ cd build
    28 $ make -j4
    29 $ cd ../build_arm
    30 $ make -j4
    31 }}}
    3213
    33 __NB__: you can also use the script of this [wiki:compile_all page] to compile the programs.
     14== Execution on a PC ==
    3415
    35 == Exécution des programmes sur le PC ==
    36 
    37 === station sol ===
     16=== ground control station ===
    3817
    3918{{{
     
    4322=== simulator ===
    4423
    45 Ouvrir un terminal et exécuter le programme via son script:
     24Open a terminal and execute the simulator:
    4625{{{
    47 $ cd $FLAIR_ROOT/flair-src/demos/SimpleFleet/simulator/build/bin
     26$ cd $FLAIR_ROOT/flair-bin/demos/core2-64/SimpleFleet_simulator
    4827$ ./simulator_x8.sh
    4928}}}
    5029
    51 Ce script permet de lancer le programmes avec un certain nombre d'arguments.
     30This script, as for ground control station, launches the program with some arguments.
    5231
    53 A noter que ce script détecte également la présence ou non de Xenomai afin de lancer le bon programme (temps réel ou non temps réel).
     32Note that the script also detects if the system uses Xenomai or not, in order to launch the corresponding program version (real time or not).
    5433
    5534=== UAVs ===
    5635
    57 Ouvrir deux terminaux et exécuter chacun des programmes via leur script:
     36Open 2 terminals and execute each program through its script:
    5837{{{
    59 $ cd $FLAIR_ROOT/flair-src/demos/SimpleFleet/uav/build/bin
     38$ cd $FLAIR_ROOT/flair-bin/demos/core2-64/SimpleFleet
    6039$ ./x8_0.sh
    6140}}}
    62 et
     41and
    6342{{{
    64 $ cd $FLAIR_ROOT/flair-src/demos/SimpleFleet/uav/build/bin
     43$ cd $FLAIR_ROOT/flair-bin/demos/core2-64/SimpleFleet
    6544$ ./x8_1.sh
    6645}}}
    67 Ces scripts,  permettent de lancer les programmes avec un certain nombre d'arguments.
    6846
    69 A noter que ces scripts détectent également la présence ou non de Xenomai afin de lancer le bon programme (temps réel ou non temps réel).
     47These scripts, as for ground control station, launch the programs with some arguments.
     48
     49Note that the scripts also detect if the system uses Xenomai or not, in order to launch the corresponding program version (real time or not).
    7050
    7151=== DualShock3 controller (optional) ===
     
    8262}}}
    8363
    84 === réglages ===
     64=== setup ===
    8565
    86 A l’exécution des programmes, la station sol doit se construire et faire apparaître les réglages et les graphes des programmes.
     66When executing the programs, the ground control station should construct itself and show setup and graphs for the programs.
    8767
    88 Sur l'onglet x8_0/uav, appuyer sur ''take off'' pour faire décoller les drones.
     68In the tab ''x4_0/uav'' press the ''take off'' button to take off the uavs.
     69
     70In the simulator window, you can change the camera (if configured) with ''page up/down'' keys. You can also press ''a'' to change the axis indicator.
    8971
    9072=== Changing 3D environment ===
    9173
    92 The 3D environment of the simulator is fixed by the launcher script (''simulator_x4.sh''); to change this environment edit the script and change the prameter ''-s''.
     74The 3D environment of the simulator is fixed by the launcher script (''simulator_x8.sh''); to change this environment edit the script and change the prameter ''-s''.
    9375
    9476For exemple, you can change it from
     
    10183}}}
    10284
    103 == Exécution des programmes sur la cible ==
     85== Execution on target ==
    10486
    105 TODO: à documenter
     87TODO