fix：新增例程
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163
基础智能/e12.撞击小球实验/ShootBall3SITL.bat
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163
基础智能/e12.撞击小球实验/ShootBall3SITL.bat
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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., SimMode=2 equals to SimMode=PX4_SITL_RFLY
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set SimMode=2
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REM Set the vehicle-model (airframe) of PX4 SITL simulation, the default airframe is a quadcopter: iris
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REM Check folder Firmware\ROMFS\px4fmu_common\init.d-posix for supported airframes (Note: You can also create your airframe file here)
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REM E.g., fixed-wing aircraft: PX4SitlFrame=plane; small cars: PX4SitlFrame=rover
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set PX4SitlFrame=iris
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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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:Top
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ECHO.
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ECHO ---------------------------------------
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REM Max vehicle number 50
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SET /a MAX_VEHICLE=50
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REM SET /P VehicleNum=Please input UAV swarm number:
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SET /A VehicleNum=1
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SET /A Evaluated=VehicleNum
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if %Evaluated% EQU %VehicleNum% (
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IF %VehicleNum% GTR 0 (
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IF %VehicleNum% GTR %MAX_VEHICLE% (
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ECHO The vehicle number is too large, which may cause a crash
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pause
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)
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GOTO StartSim
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)
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ECHO Not a positive integer
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GOTO Top
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) ELSE (
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ECHO Not a integer
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GOTO Top
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)
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:StartSim
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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 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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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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:loopBegin
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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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start /realtime CopterSim.exe 1 %cntr% %CLASS_3D_ID% %DLLModel% %SimMode% %UE4_MAP% %IS_BROADCAST% %PosXX% %PosYY% %ORIGIN_YAW% 1 %UDPSIMMODE%
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choice /t 1 /d y /n >nul
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set /a cntr=%cntr%+1
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if %cntr% EQU %endNum% goto loopEnd
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goto loopBegin
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:loopEnd
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REM Set ToolChainType 1:Win10WSL 3:Cygwin
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SET /a ToolChainType=1
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if "%IS_BROADCAST%" == "0" (
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SET IS_BROADCAST=0
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) else (
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SET IS_BROADCAST=1
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)
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SET WINDOWSPATH=%PATH%
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if %ToolChainType% EQU 1 (
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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
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) else (
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REM CYGPath
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cd /d %PSP_PATH%\CygwinToolchain
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CALL setPX4Env.bat
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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;'
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)
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SET PATH=%WINDOWSPATH%
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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.
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