fix：新增例程

基础智能/e1.集群Python接口演示实验/HITLMAVLinkFull4Swarm.bat

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+@ECHO OFF
+
+REM Run script as administrator
+%1 mshta vbscript:CreateObject("Shell.Application").ShellExecute("cmd.exe","/c %~s0 ::","","runas",1)(window.close)&&exit
+
+
+REM The text start with 'REM' is annotation, the following options are corresponding to Options on CopterSim
+
+REM Set the path of the RflySim tools
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+
+REM Start index of vehicle number (should larger than 0)
+REM This option is useful for simulation with multi-computers
+SET /a START_INDEX=1
+
+REM Auto determine CopterID according to SysID of Pixhawk
+SET /a IsSysID=0
+
+REM Total vehicle Number to auto arrange position
+REM SET /a TOTOAL_COPTER=8
+
+REM Set the vehicleType/ClassID of vehicle 3D display in RflySim3D
+SET /a CLASS_3D_ID=-1
+
+
+REM Set use DLL model name or not, use number index or name string
+REM This option is useful for simulation with other types of vehicles instead of multicopters
+set DLLModel=0
+
+REM Check if DLLModel is a name string, if yes, copy the DLL file to CopterSim folder
+SET /A DLLModelVal=DLLModel
+if %DLLModelVal% NEQ %DLLModel% (
+    REM Copy the latest dll file to CopterSim folder
+    copy /Y "%~dp0"\%DLLModel%.dll %PSP_PATH%\CopterSim\external\model\%DLLModel%.dll
+)
+
+REM Set the simulation mode on CopterSim, use number index or name string
+REM e.g., 0:PX4_HITL, 1:PX4_SITL, 2:PX4_SITL_RFLY, 3:"Simulink&DLL_SIL", 4:PX4_HITL_NET, 5:EXT_HITL_COM, 6:EXT_SIM_NET
+set SimMode=0
+
+REM SET the baudrate for Pixhawk COM
+SET /a BaudRate=921600
+
+REM Set the map, use index or name of the map on CopterSim
+REM e.g., UE4_MAP=1 equals to UE4_MAP=Grasslands
+SET UE4_MAP=Grasslands
+
+REM Set the origin x,y position (m) and yaw angle (degree) at the map
+SET /a ORIGIN_POS_X=0
+SET /a ORIGIN_POS_Y=0
+SET /a ORIGIN_YAW=0
+
+REM Set the interval between two vehicle, unit:m 
+SET /a VEHICLE_INTERVAL=2
+
+
+REM Set broadcast to other computer; IS_BROADCAST=0: only this computer, IS_BROADCAST=1: broadcast; 
+REM or use IP address to increase speed, e.g., IS_BROADCAST=192.168.3.1
+REM Note: in IP mode, IS_BROADCAST=0 equals to IS_BROADCAST=127.0.0.1, IS_BROADCAST=1 equals to IS_BROADCAST=255.255.255.255
+REM You can also use a IP list with seperator "," or ";" to specify IPs to send, e.g., 127.0.0.1,192.168.1.4,192.168.1.5
+SET IS_BROADCAST=0
+
+REM Set UDP data mode; 0: UDP_FULL, 1:UDP_Simple, 2: Mavlink_Full, 3: Mavlink_simple. input number or string
+REM 4:Mavlink_NoSend, 5:Mavlink_NoGPS, 6:Mavlink_Vision (NoGPS and set PX4 EKF)
+SET UDPSIMMODE=Mavlink_Full
+
+ECHO.
+ECHO ---------------------------------------
+REM Get the Com port number
+for /f "delims=" %%t in ('%PSP_PATH%\CopterSim\GetComList.exe 2 %BaudRate%') do set ComNumExe=%%t
+
+REM Get the Com port list
+for /f "delims=" %%t in ('%PSP_PATH%\CopterSim\GetComList.exe 0 %BaudRate%') do set ComNameList=%%t
+
+REM Get the Com port info
+for /f "delims=" %%t in ('%PSP_PATH%\CopterSim\GetComList.exe 1 %BaudRate%') do set ComInfoList=%%t
+
+echo Please input the Pixhawk COM port list for HIL
+echo Use ',' as the separator if more than one Pixhawk
+echo E.g., input 3 for COM3 of Pixhawk on the computer
+echo Input 3,6,7 for COM3, COM6 and COM7 of Pixhawks 
+
+ECHO ---------------------------------------
+set remain=%ComInfoList%
+echo All COM ports on this computer are:
+echo.
+:loopInfo
+for /f "tokens=1* delims=;" %%a in ("%remain%") do (
+    echo %%a
+    set remain=%%b
+)
+if defined remain goto :loopInfo
+echo.
+ECHO ---------------------------------------
+
+if %ComNumExe% EQU 0 (
+    echo Warning: there is no available COM port
+) else (
+    echo Recommended COM list input is: %ComNameList%
+)
+
+ECHO.
+ECHO ---------------------------------------
+SET /P ComNum=My COM list for HITL simulation is:
+SET string=%ComNum%
+set subStr = ""
+set /a VehicleNum=0
+:split
+    for /f "tokens=1,* delims=," %%i in ("%string%") do (
+    set subStr=%%i
+    set string=%%j
+    )
+    set /a eValue=subStr
+    if not %eValue% EQU %subStr% (
+        echo Error: Input '%subStr%' is not a integer!
+        goto EOF
+    )
+    set /a VehicleNum = VehicleNum +1
+if not "%string%"=="" goto split
+REM cho total com number is %VehicleNum%
+
+SET /A VehicleTotalNum=%VehicleNum% + %START_INDEX% - 1
+if not defined TOTOAL_COPTER (
+    SET /A TOTOAL_COPTER=%VehicleTotalNum%
+)
+
+set /a sqrtNum=1
+set /a squareNum=1
+:loopSqrt
+set /a squareNum=%sqrtNum% * %sqrtNum%
+if %squareNum% EQU %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+if %squareNum% GTR %TOTOAL_COPTER% (
+    goto loopSqrtEnd
+)
+set /a sqrtNum=%sqrtNum%+1
+goto loopSqrt
+:loopSqrtEnd
+
+
+REM UE4Path
+cd /d %PSP_PATH%\RflySim3D
+tasklist|find /i "RflySim3D.exe" || start %PSP_PATH%\RflySim3D\RflySim3D.exe
+choice /t 5 /d y /n >nul
+
+
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+ECHO Kill all CopterSims
+
+
+REM CptSmPath
+cd /d %PSP_PATH%\CopterSim
+
+set /a cntr = %START_INDEX%
+set /a endNum = %VehicleTotalNum% +1
+
+SET string=%ComNum%
+:split1
+    for /f "tokens=1,* delims=," %%i in ("%string%") do (
+    set subStr=%%i
+    set string=%%j
+    )
+    set /a PosXX=((%cntr%-1) / %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_X%
+    set /a PosYY=((%cntr%-1) %% %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_Y%
+    REM echo start CopterSim
+    start /realtime CopterSim.exe 1 %cntr% %CLASS_3D_ID% %DLLModel% %SimMode% %UE4_MAP% %IS_BROADCAST% %PosXX% %PosYY% %ORIGIN_YAW% %subStr%:%BaudRate% %UDPSIMMODE% %IsSysID%
+    choice /t 2 /d y /n >nul
+    set /a cntr=%cntr%+1
+    
+    REM TIMEOUT /T 1
+if not "%string%"=="" goto split1
+
+REM QGCPath
+tasklist|find /i "QGroundControl.exe" || start %PSP_PATH%\QGroundControl\QGroundControl.exe -noComPix
+ECHO Start QGroundControl
+
+pause
+
+REM kill all applications when press a key
+tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
+tasklist|find /i "QGroundControl.exe" && taskkill /f /im "QGroundControl.exe"
+tasklist|find /i "RflySim3D.exe" && taskkill /f /im "RflySim3D.exe"
+
+ECHO Start End.