fix：新增例程
This commit is contained in:
5
基础智能/e12.撞击小球实验/Python38Run.bat
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5
基础智能/e12.撞击小球实验/Python38Run.bat
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if not defined PSP_PATH (
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SET PSP_PATH=C:\PX4PSP
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SET PSP_PATH_LINUX=/mnt/c/PX4PSP
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)
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start cmd.exe /k "echo Python3.8 environment has been set with openCV+pymavlink+numpy+pyulog etc. && echo You can use pip or pip3 command to install other libraries && echo Put Python38Run.bat into your code folder && echo Use the command: 'python XXX.py' to run the script with Python && SET PATH=%PSP_PATH%\Python38;%PSP_PATH%\Python38\Scripts;%CD%;%PATH%"
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BIN
基础智能/e12.撞击小球实验/Readme.pdf
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BIN
基础智能/e12.撞击小球实验/Readme.pdf
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Binary file not shown.
197
基础智能/e12.撞击小球实验/ShootBall3.py
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197
基础智能/e12.撞击小球实验/ShootBall3.py
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# import required libraries
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import time
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import numpy as np
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import cv2
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# import RflySim APIs
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import PX4MavCtrlV4 as PX4MavCtrl
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import ScreenCapApiV4 as sca
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import UE4CtrlAPI
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ue = UE4CtrlAPI.UE4CtrlAPI()
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# Function to calculate the location and radius of red ball
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def calc_centroid(img):
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"""Get the centroid and area of Red in the image"""
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low_range = np.array([0,0,80])
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high_range = np.array([100,100,255])
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th = cv2.inRange(img, low_range, high_range)
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dilated = cv2.dilate(th, cv2.getStructuringElement(
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cv2.MORPH_ELLIPSE, (3, 3)), iterations=2)
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cv2.imshow("dilated", dilated)
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cv2.waitKey(1)
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M = cv2.moments(dilated, binaryImage=True)
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if M["m00"] >= min_prop*width*height:
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cx = int(M["m10"] / M["m00"])
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cy = int(M["m01"] / M["m00"])
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return [cx, cy, M["m00"]]
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else:
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return [-1, -1, -1]
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# Function to obtain velocity commands for Pixhawk
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# according to the image processing results
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def controller(p_i):
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# if the object is not in the image, search in clockwise
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if p_i[0] < 0 or p_i[1] < 0:
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return [0, 0, 0, 1]
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# found
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ex = p_i[0] - width / 2
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ey = p_i[1] - height / 2
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vx = 2 if p_i[2] < max_prop*width*height else 0
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vy = 0
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vz = K_z * ey
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yawrate = K_yawrate * ex
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# return forward, rightward, downward, and rightward-yaw
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# velocity control sigals
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return [vx, vy, vz, yawrate]
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# Process image to obtain vehicle velocity control command
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def procssImage():
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img_bgr=sca.getCVImg(ImgInfo1)
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p_i = calc_centroid(img_bgr)
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ctrl = controller(p_i)
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return ctrl
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# saturation function to limit the maximum velocity
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def sat(inPwm,thres=1):
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outPwm= inPwm
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for i in range(len(inPwm)):
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if inPwm[i]>thres:
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outPwm[i] = thres
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elif inPwm[i]<-thres:
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outPwm[i] = -thres
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return outPwm
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# Create MAVLink control API instance
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mav = PX4MavCtrl.PX4MavCtrler(1)
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# Init MAVLink data receiving loop
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mav.InitMavLoop()
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isEmptyData = False
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lastTime = time.time()
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startTime = time.time()
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# time interval of the timer
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timeInterval = 1/30.0 #here is 0.0333s (30Hz)
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flag = 0
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# parameters
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width = 720
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height = 405
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channel = 4
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min_prop = 0.000001
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max_prop = 0.3
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K_z = 0.003 * 640 / height
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K_yawrate = 0.005 * 480 / width
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# send command to all RflySim3D windows to switch to the blank grass scene
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# by default, there are two windows, the first is front camera
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# for vison control, and the second window for observation
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ue.sendUE4Cmd('RflyChangeMapbyName VisionRingBlank')
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time.sleep(1)
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# create a ball, set its position and altitude, use the default red color
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ue.sendUE4Pos(100,152,0,[3,0,-2],[0,0,0])
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time.sleep(0.5)
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# Change the target vehicle to copterID=1's vehicle
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ue.sendUE4Cmd('RflyChangeViewKeyCmd B 1',0)
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time.sleep(0.5)
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# Switch its viewpoint to oboard #1 (front camera view)
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ue.sendUE4Cmd('RflyChangeViewKeyCmd V 1',0)
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time.sleep(0.5)
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# move the camera to the position [0.3,0,0.05] related to the body
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ue.sendUE4Cmd('RflyCameraPosAng 0.3 0 0.05 0 0 0',0)
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time.sleep(0.5)
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# set the RflySim3D window size to 720x405
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# Send command to UE4 Window 1 to change resolution
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ue.sendUE4Cmd('r.setres 720x405w',1)
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time.sleep(2)
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# Send command to UE4 Window 1 to change resolution
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ue.sendUE4Cmd('r.setres 720x405w',0)
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time.sleep(2)
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# Get handles of all UE4/RflySim3D windows
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window_hwnds = sca.getWndHandls()
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try:
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# Move UE4 windows 0 to desired position and keep top
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xx,yy=sca.moveWd(window_hwnds[0],0,0,True)
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time.sleep(0.5)
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# Move UE4 windows 0 to desired position (next to windows 0) and keep top
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xx,yy=sca.moveWd(window_hwnds[1],xx,0,False)
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except Exception as e :
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print('Please move the window manually')
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xx=720
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yy=405
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# Get the info of the first window (index=0)
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ImgInfo1 = sca.getHwndInfo(window_hwnds[0])
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num=0
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lastClock=time.time()
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# Start a endless loop with 30Hz, timeInterval=1/30.0
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ctrlLast = [0,0,0,0]
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while True:
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lastTime = lastTime + timeInterval
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sleepTime = lastTime - time.time()
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if sleepTime > 0:
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time.sleep(sleepTime) # sleep until the desired clock
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else:
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lastTime = time.time()
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# The following code will be executed 30Hz (0.0333s)
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num=num+1
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if num%100==0:
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tiem=time.time()
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print('MainThreadFPS: '+str(100/(tiem-lastClock)))
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lastClock=tiem
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if time.time() - startTime > 5 and flag == 0:
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# The following code will be executed at 5s
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print("5s, Arm the drone")
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mav.initOffboard()
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flag = 1
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mav.SendMavArm(True) # Arm the drone
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print("Arm the drone!, and fly to NED 0,0,-5")
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mav.SendPosNED(0, 0, -5, 0) # Fly to target position [0, 0, -5], i.e., take off to 5m
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if time.time() - startTime > 15 and flag == 1:
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flag = 2
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# The following code will be executed at 15s
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mav.SendPosNED(-30,-5, -5, 0) # Fly to target position [-30,-5, -5]
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print("15s, fly to pos: -30,-5, -5")
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if time.time() - startTime > 25 and flag == 2:
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flag = 3
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# Show CV image and set the position
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img_bgr=sca.getCVImg(ImgInfo1)
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cv2.imshow("dilated", img_bgr)
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cv2.waitKey(1)
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time.sleep(0.5)
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cv2.moveWindow("dilated",0,yy)
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print("25s, start to shoot the ball.")
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if time.time() - startTime > 25 and flag == 3:
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ctrlNow = procssImage()
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ctrl = sat(ctrlNow,5)
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# add a inertial component here to restrain the speed variation rate
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if ctrl[0]-ctrlLast[0] > 0.5:
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ctrl[0]=ctrlLast[0]+0.05
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elif ctrl[0]-ctrlLast[0] < -0.5:
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ctrl[0]=ctrlLast[0]-0.05
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if ctrl[1]-ctrlLast[1] > 0.5:
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ctrl[1]=ctrlLast[1]+0.05
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elif ctrl[1]-ctrlLast[1] < -0.5:
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ctrl[1]=ctrlLast[1]-0.05
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ctrlLast = ctrl
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# if control signals is obtained, send to Pixhawk
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if not isEmptyData:
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mav.SendVelFRD(ctrl[0], ctrl[1], ctrl[2], ctrl[3])
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178
基础智能/e12.撞击小球实验/ShootBall3HITL.bat
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178
基础智能/e12.撞击小球实验/ShootBall3HITL.bat
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@@ -0,0 +1,178 @@
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@ECHO OFF
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REM Run script as administrator
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%1 mshta vbscript:CreateObject("Shell.Application").ShellExecute("cmd.exe","/c ""%~s0"" ::","","runas",1)(window.close)&&exit
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REM The text start with 'REM' is annotation, the following options are corresponding to Options on CopterSim
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REM Start index of vehicle number (should larger than 0)
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REM This option is useful for simulation with multi-computers
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SET /a START_INDEX=1
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REM Set the vehicleType/ClassID of vehicle 3D display in RflySim3D
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SET /a CLASS_3D_ID=-1
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REM Set use DLL model name or not, use number index or name string
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REM This option is useful for simulation with other types of vehicles instead of multicopters
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set DLLModel=0
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REM Set the simulation mode on CopterSim, use number index or name string
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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
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set SimMode=0
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REM SET the baudrate for Pixhawk COM
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SET /a BaudRate=921600
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REM Set the map, use index or name of the map on CopterSim
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REM e.g., UE4_MAP=1 equals to UE4_MAP=Grasslands
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SET UE4_MAP=VisionRingBlank
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REM Set the origin x,y position (m) and yaw angle (degree) at the map
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SET /a ORIGIN_POS_X=0
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SET /a ORIGIN_POS_Y=0
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SET /a ORIGIN_YAW=0
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REM Set the interval between two vehicle, unit:m
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SET /a VEHICLE_INTERVAL=2
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REM Set broadcast to other computer; 0: only this computer, 1: broadcast; or use IP address to increase speed
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REM e.g., IS_BROADCAST=0 equals to IS_BROADCAST=127.0.0.1, IS_BROADCAST=1 equals to IS_BROADCAST=255.255.255.255
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SET IS_BROADCAST=0
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REM Set UDP data mode; 0: UDP_FULL, 1:UDP_Simple, 2: Mavlink_Full, 3: Mavlink_simple. input number or string
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REM 4:Mavlink_NoSend, 5:Mavlink_NoGPS, 6:Mavlink_Vision (NoGPS and set PX4 EKF)
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SET UDPSIMMODE=2
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REM Set the path of the RflySim tools
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if not defined PSP_PATH (
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SET PSP_PATH=C:\PX4PSP
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SET PSP_PATH_LINUX=/mnt/c/PX4PSP
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)
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ECHO.
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ECHO ---------------------------------------
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REM Get the Com port number
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for /f "delims=" %%t in ('%PSP_PATH%\CopterSim\GetComList.exe 3 %BaudRate%') do set ComInfoStr=%%t
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for /f "tokens=1,2,3 delims=#" %%a in ("%ComInfoStr%") do (
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set ComNumExe=%%a
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set ComNameList=%%b
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set ComInfoList=%%c
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)
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echo Please input the Pixhawk COM port list for HIL
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echo Use ',' as the separator if more than one Pixhawk
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echo E.g., input 3 for COM3 of Pixhawk on the computer
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echo Input 3,6,7 for COM3, COM6 and COM7 of Pixhawks
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ECHO ---------------------------------------
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set remain=%ComInfoList%
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echo All COM ports on this computer are:
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echo.
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:loopInfo
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for /f "tokens=1* delims=;" %%a in ("%remain%") do (
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echo %%a
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set remain=%%b
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)
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if defined remain goto :loopInfo
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echo.
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ECHO ---------------------------------------
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if %ComNumExe% EQU 0 (
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echo Warning: there is no available COM port
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) else (
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echo Recommended COM list input is: %ComNameList%
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)
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ECHO.
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ECHO ---------------------------------------
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SET /P ComNum=My COM list for HITL simulation is:
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SET string=%ComNum%
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set subStr = ""
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set /a VehicleNum=0
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:split
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for /f "tokens=1,* delims=," %%i in ("%string%") do (
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set subStr=%%i
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set string=%%j
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)
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set /a eValue=subStr
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if not %eValue% EQU %subStr% (
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echo Error: Input '%subStr%' is not a integer!
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goto EOF
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)
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set /a VehicleNum = VehicleNum +1
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if not "%string%"=="" goto split
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REM cho total com number is %VehicleNum%
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SET /A VehicleTotalNum=%VehicleNum% + %START_INDEX% - 1
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if not defined TOTOAL_COPTER (
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SET /A TOTOAL_COPTER=%VehicleTotalNum%
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)
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set /a sqrtNum=1
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set /a squareNum=1
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:loopSqrt
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set /a squareNum=%sqrtNum% * %sqrtNum%
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if %squareNum% EQU %TOTOAL_COPTER% (
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goto loopSqrtEnd
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)
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if %squareNum% GTR %TOTOAL_COPTER% (
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goto loopSqrtEnd
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)
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set /a sqrtNum=%sqrtNum%+1
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goto loopSqrt
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:loopSqrtEnd
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REM UE4Path
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cd /d %PSP_PATH%\RflySim3D
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tasklist|find /i "RflySim3D.exe" || start %PSP_PATH%\RflySim3D\RflySim3D.exe
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start %PSP_PATH%\RflySim3D\RflySim3D.exe
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choice /t 5 /d y /n >nul
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tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
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ECHO Kill all CopterSims
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REM CptSmPath
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cd /d %PSP_PATH%\CopterSim
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set /a cntr = %START_INDEX%
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set /a endNum = %VehicleTotalNum% +1
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SET string=%ComNum%
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:split1
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for /f "tokens=1,* delims=," %%i in ("%string%") do (
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set subStr=%%i
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set string=%%j
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)
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set /a PosXX=((%cntr%-1) / %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_X%
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set /a PosYY=((%cntr%-1) %% %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_Y%
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REM echo start CopterSim
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start /realtime CopterSim.exe 1 %cntr% %CLASS_3D_ID% %DLLModel% %SimMode% %UE4_MAP% %IS_BROADCAST% %PosXX% %PosYY% %ORIGIN_YAW% %subStr%:%BaudRate% %UDPSIMMODE%
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choice /t 2 /d y /n >nul
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set /a cntr=%cntr%+1
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REM TIMEOUT /T 1
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if not "%string%"=="" goto split1
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REM QGCPath
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tasklist|find /i "QGroundControl.exe" || start %PSP_PATH%\QGroundControl\QGroundControl.exe -noComPix
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ECHO Start QGroundControl
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pause
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REM kill all applications when press a key
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tasklist|find /i "CopterSim.exe" && taskkill /im "CopterSim.exe"
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tasklist|find /i "QGroundControl.exe" && taskkill /f /im "QGroundControl.exe"
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tasklist|find /i "RflySim3D.exe" && taskkill /f /im "RflySim3D.exe"
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tasklist|find /i "python.exe" && taskkill /f /im "python.exe"
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tasklist|find /i "cmd.exe" && taskkill /f /im "cmd.exe"
|
||||
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ECHO Start End.
|
||||
163
基础智能/e12.撞击小球实验/ShootBall3SITL.bat
Normal file
163
基础智能/e12.撞击小球实验/ShootBall3SITL.bat
Normal file
@@ -0,0 +1,163 @@
|
||||
@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 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 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 Set the simulation mode on CopterSim, use number index or name string
|
||||
REM e.g., SimMode=2 equals to SimMode=PX4_SITL_RFLY
|
||||
set SimMode=2
|
||||
|
||||
REM Set the vehicle-model (airframe) of PX4 SITL simulation, the default airframe is a quadcopter: iris
|
||||
REM Check folder Firmware\ROMFS\px4fmu_common\init.d-posix for supported airframes (Note: You can also create your airframe file here)
|
||||
REM E.g., fixed-wing aircraft: PX4SitlFrame=plane; small cars: PX4SitlFrame=rover
|
||||
set PX4SitlFrame=iris
|
||||
|
||||
|
||||
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=VisionRingBlank
|
||||
|
||||
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; 0: only this computer, 1: broadcast; or use IP address to increase speed
|
||||
REM e.g., IS_BROADCAST=0 equals to IS_BROADCAST=127.0.0.1, IS_BROADCAST=1 equals to IS_BROADCAST=255.255.255.255
|
||||
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=2
|
||||
|
||||
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
|
||||
)
|
||||
|
||||
:Top
|
||||
ECHO.
|
||||
ECHO ---------------------------------------
|
||||
REM Max vehicle number 50
|
||||
SET /a MAX_VEHICLE=50
|
||||
REM SET /P VehicleNum=Please input UAV swarm number:
|
||||
SET /A VehicleNum=1
|
||||
SET /A Evaluated=VehicleNum
|
||||
if %Evaluated% EQU %VehicleNum% (
|
||||
IF %VehicleNum% GTR 0 (
|
||||
IF %VehicleNum% GTR %MAX_VEHICLE% (
|
||||
ECHO The vehicle number is too large, which may cause a crash
|
||||
pause
|
||||
)
|
||||
GOTO StartSim
|
||||
)
|
||||
ECHO Not a positive integer
|
||||
GOTO Top
|
||||
) ELSE (
|
||||
ECHO Not a integer
|
||||
GOTO Top
|
||||
)
|
||||
:StartSim
|
||||
|
||||
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 QGCPath
|
||||
tasklist|find /i "QGroundControl.exe" || start %PSP_PATH%\QGroundControl\QGroundControl.exe -noComPix
|
||||
ECHO Start QGroundControl
|
||||
|
||||
REM UE4Path
|
||||
cd /d %PSP_PATH%\RflySim3D
|
||||
tasklist|find /i "RflySim3D.exe" || start %PSP_PATH%\RflySim3D\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
|
||||
|
||||
:loopBegin
|
||||
set /a PosXX=((%cntr%-1) / %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_X%
|
||||
set /a PosYY=((%cntr%-1) %% %sqrtNum%)*%VEHICLE_INTERVAL% + %ORIGIN_POS_Y%
|
||||
start /realtime CopterSim.exe 1 %cntr% %CLASS_3D_ID% %DLLModel% %SimMode% %UE4_MAP% %IS_BROADCAST% %PosXX% %PosYY% %ORIGIN_YAW% 1 %UDPSIMMODE%
|
||||
choice /t 1 /d y /n >nul
|
||||
set /a cntr=%cntr%+1
|
||||
|
||||
if %cntr% EQU %endNum% goto loopEnd
|
||||
goto loopBegin
|
||||
:loopEnd
|
||||
|
||||
REM Set ToolChainType 1:Win10WSL 3:Cygwin
|
||||
SET /a ToolChainType=1
|
||||
|
||||
if "%IS_BROADCAST%" == "0" (
|
||||
SET IS_BROADCAST=0
|
||||
) else (
|
||||
SET IS_BROADCAST=1
|
||||
)
|
||||
|
||||
SET WINDOWSPATH=%PATH%
|
||||
if %ToolChainType% EQU 1 (
|
||||
wsl -d RflySim-20.04 echo Starting PX4 Build; cd %PSP_PATH_LINUX%/Firmware; ./BkFile/EnvOri.sh; export PATH=$HOME/ninja:$HOME/gcc-arm-none-eabi-7-2017-q4-major/bin:$PATH;make px4_sitl_default; ./Tools/sitl_multiple_run_rfly.sh %VehicleNum% %START_INDEX% %PX4SitlFrame%;echo Press any key to exit; read -n 1
|
||||
) else (
|
||||
REM CYGPath
|
||||
cd /d %PSP_PATH%\CygwinToolchain
|
||||
CALL setPX4Env.bat
|
||||
bash -l -i -c 'echo Starting SITL SIMULATION; cd %PSP_PATH_LINUX%/Firmware; ./BkFile/EnvOri.sh; pwd; make px4_sitl_default; ./Tools/sitl_multiple_run_rfly.sh %VehicleNum% %START_INDEX% %PX4SitlFrame%;echo Press any key to exit; read -n 1; pkill -x px4 || true;'
|
||||
)
|
||||
SET PATH=%WINDOWSPATH%
|
||||
|
||||
|
||||
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"
|
||||
tasklist|find /i "python.exe" && taskkill /f /im "python.exe"
|
||||
tasklist|find /i "cmd.exe" && taskkill /f /im "cmd.exe"
|
||||
|
||||
ECHO Start End.
|
||||
12
基础智能/e12.撞击小球实验/WinWSL.bat
Normal file
12
基础智能/e12.撞击小球实验/WinWSL.bat
Normal file
@@ -0,0 +1,12 @@
|
||||
@echo off
|
||||
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
|
||||
)
|
||||
cd /d %PSP_PATH%\VcXsrv
|
||||
tasklist|find /i "vcxsrv.exe" >nul || Xlaunch.exe -run config1.xlaunch
|
||||
|
||||
cd /d %~dp0
|
||||
wsl -d RflySim-20.04
|
||||
|
||||
20
基础智能/e12.撞击小球实验/WslGUI.bat
Normal file
20
基础智能/e12.撞击小球实验/WslGUI.bat
Normal file
@@ -0,0 +1,20 @@
|
||||
@echo off
|
||||
|
||||
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
|
||||
)
|
||||
|
||||
tasklist|find /i "vcxsrv.exe" >nul && taskkill /f /IM "vcxsrv.exe" >nul
|
||||
tasklist|find /i "vcxsrv.exe" >nul && taskkill /f /IM "vcxsrv.exe" >nul
|
||||
|
||||
cd /d %PSP_PATH%\VcXsrv
|
||||
Xlaunch.exe -run config.xlaunch
|
||||
|
||||
choice /t 1 /d y /n >nul
|
||||
|
||||
cd /d %~dp0
|
||||
wsl -d RflySim-20.04 ~/StartUI.sh
|
||||
choice /t 1 /d y /n >nul
|
||||
tasklist|find /i "vcxsrv.exe" && taskkill /f /IM "vcxsrv.exe"
|
||||
0
基础智能/e12.撞击小球实验/名称-屏幕截图接口、撞击小球实验.txt
Normal file
0
基础智能/e12.撞击小球实验/名称-屏幕截图接口、撞击小球实验.txt
Normal file
Reference in New Issue
Block a user