fix：新增例程

2025-07-25 17:54:28 +08:00
parent 78481c265e
commit 637343d716
108 changed files with 5755 additions and 0 deletions
--- a/基础智能/e14.四旋翼无人机跟踪小球实验/Config.json
+++ b/基础智能/e14.四旋翼无人机跟踪小球实验/Config.json
@@ -0,0 +1,21 @@
+{
+    "VisionSensors":[
+        {
+            "SeqID":0, //视觉传感器序号0 1 2 3 ...排序。如果填0，则自动递增排序。
+            "TypeID":1, //视觉传感器类型，1:RGB，2:深度，3:灰度，4:分割，5:测距，7:深度转点云，20-23:激光雷达，40-41:热力红外（收费版）
+            "TargetCopter":1, //传感器绑定的CopterID号，注:免费版只支持绑定1号飞机
+            "TargetMountType":0, //绑定方式，0:固定飞机几何中心， 1:固定飞机底部中心，2:固定地面上，3:弱固定飞机上姿态不随动，4:绑定其他视觉传感器上
+            "DataWidth":640, //图像像素长度
+            "DataHeight":480,//图像像素宽度
+            "DataCheckFreq":30,//图像检查更新频率，如果发现UE渲染更新了（取决于UE刷新帧率），会立刻发出数据。UE刷新率+DataCheckFreq检查频率，共同决定图像延迟。
+            "SendProtocol":[0,0,0,0,0,0,0,0],// SendProtocol[0]，表示传输协议，0：共享内存（仅限Windows下获取图像），1：UDP网络传输模式（图片使用jpeg压缩，点云直传），2：UDP直传图片不压缩，3：UDP直传图片png压缩。注：0-1适用所有传感器，2-3选项仅限图像类传感器。
+            //SendProtocol[1-4]位对应，IP地址位，表示请求返回的IP地址。默认都填0（或127.0.0.1），会自动请求UE返回图像到本电脑；SendProtocol[5]端口位，指定传感器图像回传端口，需要为每个传感器设置不同端口。默认填0，会自动使用9999+SeqID的递增端口号。
+            "CameraFOV":90, //视觉传感器的FOV视场角，和焦距呈现一定数值关系，能间接修改焦距。
+            "EularOrQuat":0, //使用欧拉角SensorAngEular还是四元数SensorAngQuat来设置视觉传感器姿态，默认使用0欧拉角。
+            "SensorPosXYZ":[0.3,0,0], //视觉传感器的安装位置，和TargetMountType对应偏移中心，单位米
+            "SensorAngQuat":[0,0,0,0], // 视觉传感器的安装姿态，用四元数方式表示
+            "SensorAngEular":[0,0,0],// 视觉传感器的安装姿态，用欧拉角方式表示，单位角度制
+            "otherParams":[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0] //其他参数
+        }
+    ]
+}
--- a/基础智能/e14.四旋翼无人机跟踪小球实验/Python38Run.bat
+++ b/基础智能/e14.四旋翼无人机跟踪小球实验/Python38Run.bat
@@ -0,0 +1,5 @@
+if not defined PSP_PATH (
+    SET PSP_PATH=C:\PX4PSP
+    SET PSP_PATH_LINUX=/mnt/c/PX4PSP
+)
+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%"
--- a/基础智能/e14.四旋翼无人机跟踪小球实验/Readme.pdf
+++ b/基础智能/e14.四旋翼无人机跟踪小球实验/Readme.pdf
--- a/基础智能/e14.四旋翼无人机跟踪小球实验/ShootBall3.py
+++ b/基础智能/e14.四旋翼无人机跟踪小球实验/ShootBall3.py
@@ -0,0 +1,173 @@
+# import required libraries
+import time
+import numpy as np
+import cv2
+import sys
+
+# import RflySim APIs
+import PX4MavCtrlV4 as PX4MavCtrl
+import VisionCaptureApi
+import UE4CtrlAPI
+ue = UE4CtrlAPI.UE4CtrlAPI()
+
+vis = VisionCaptureApi.VisionCaptureApi()
+
+# VisionCaptureApi 中的配置函数
+vis.jsonLoad() # 加载Config.json中的传感器配置文件
+
+isSuss = vis.sendReqToUE4() # 向RflySim3D发送取图请求，并验证
+if not isSuss: # 如果请求取图失败，则退出
+    sys.exit(0)
+vis.startImgCap() # 开启共享内存取图
+
+# Send command to UE4 Window 1 to change resolution 
+ue.sendUE4Cmd('r.setres 720x405w',0) # 设置UE4窗口分辨率，注意本窗口仅限于显示，取图分辨率在json中配置，本窗口设置越小，资源需求越少。
+ue.sendUE4Cmd('t.MaxFPS 30',0) # 设置UE4最大刷新频率，同时也是取图频率
+time.sleep(2)    
+
+# Create MAVLink control API instance
+mav = PX4MavCtrl.PX4MavCtrler(1)
+# Init MAVLink data receiving loop
+mav.InitMavLoop()
+
+# create a ball, set its position and altitude, use the default red color
+ue.sendUE4Pos(100,152,0,[3,0,-2],[0,0,0])
+time.sleep(0.5)
+
+# Function to calculate the location and radius of red ball
+def calc_centroid(img):
+    """Get the centroid and area of Red in the image"""
+    low_range = np.array([0,0,80])
+    high_range = np.array([100,100,255])
+    th = cv2.inRange(img, low_range, high_range)
+    dilated = cv2.dilate(th, cv2.getStructuringElement(
+        cv2.MORPH_ELLIPSE, (3, 3)), iterations=2)
+    cv2.imshow("dilated", dilated)
+    cv2.waitKey(1)
+
+    M = cv2.moments(dilated, binaryImage=True)
+    if M["m00"] >= min_prop*width*height:
+        cx = int(M["m10"] / M["m00"])
+        cy = int(M["m01"] / M["m00"])
+        return [cx, cy, M["m00"]]
+    else:
+        return [-1, -1, -1]
+
+# Function to obtain velocity commands for Pixhawk 
+# according to the image processing results
+def controller(p_i):
+    # if the object is not in the image, search in clockwise
+    if p_i[0] < 0 or p_i[1] < 0:
+        return [0, 0, 0, 1]
+
+    # found
+    ex = p_i[0] - width / 2
+    ey = p_i[1] - height / 2
+
+    vx = 2 if p_i[2] < max_prop*width*height else 0
+    vy = 0
+    vz = K_z * ey
+    yawrate = K_yawrate * ex
+    
+    # return forward, rightward, downward, and rightward-yaw 
+    # velocity control sigals
+    return [vx, vy, vz, yawrate]
+
+# Process image to obtain vehicle velocity control command
+def procssImage():
+    global ctrl_last
+    if vis.hasData[0]:
+        img_bgr=vis.Img[0]
+        p_i = calc_centroid(img_bgr) 
+        ctrl = controller(p_i) 
+    else:
+        ctrl=[0,0,0,0]
+    return ctrl
+
+# saturation function to limit the maximum velocity
+def sat(inPwm,thres=1):
+    outPwm= inPwm
+    for i in range(len(inPwm)):
+        if inPwm[i]>thres:
+            outPwm[i] = thres
+        elif inPwm[i]<-thres:
+            outPwm[i] = -thres
+    return outPwm
+
+lastTime = time.time()
+startTime = time.time()
+# time interval of the timer
+timeInterval = 1/30.0 #here is 0.0333s (30Hz)
+flag = 0
+
+# parameters
+width = 640
+height = 480
+channel = 4
+min_prop = 0.000001
+max_prop = 0.3
+K_z = 0.003 * 640 / height
+K_yawrate = 0.005 * 480 / width
+
+num=0
+lastClock=time.time()
+
+# Start a endless loop with 30Hz, timeInterval=1/30.0
+ctrlLast = [0,0,0,0]
+while True:
+    lastTime = lastTime + timeInterval
+    sleepTime = lastTime - time.time()
+    if sleepTime > 0:
+        time.sleep(sleepTime) # sleep until the desired clock
+    else:
+        lastTime = time.time()
+    # The following code will be executed 30Hz (0.0333s)
+
+    num=num+1
+    if num%100==0:
+        tiem=time.time()
+        print('MainThreadFPS: '+str(100/(tiem-lastClock)))
+        lastClock=tiem  
+
+    if time.time() - startTime > 5 and flag == 0:
+        # The following code will be executed at 5s
+        print("5s, Arm the drone")
+        mav.initOffboard()
+        flag = 1
+        mav.SendMavArm(True) # Arm the drone
+        print("Arm the drone!, and fly to NED 0,0,-5")
+        mav.SendPosNED(0, 0, -5, 0) # Fly to target position [0, 0, -5], i.e., take off to 5m
+
+    if time.time() - startTime > 15 and flag == 1:
+        flag = 2
+        # The following code will be executed at 15s
+        mav.SendPosNED(-30,-5, -5, 0)  # Fly to target position [-30,-5, -5]
+        print("15s, fly to pos: -30,-5, -5")
+
+    if time.time() - startTime > 25 and flag == 2:
+        flag = 3
+    # Show CV image and set the position
+        if vis.hasData[0]:           
+            img_bgr=vis.Img[0]
+            cv2.imshow("dilated", img_bgr)
+            cv2.waitKey(1)
+            #time.sleep(0.5)
+        
+        print("25s, start to shoot the ball.")
+
+    if time.time() - startTime > 25 and flag == 3:
+        ctrlNow = procssImage()
+        ctrl = sat(ctrlNow,5)
+        # add a inertial component here to restrain the speed variation rate
+        if ctrl[0]-ctrlLast[0] > 0.5:
+            ctrl[0]=ctrlLast[0]+0.05
+        elif ctrl[0]-ctrlLast[0] < -0.5:
+            ctrl[0]=ctrlLast[0]-0.05
+        if ctrl[1]-ctrlLast[1] > 0.5:
+            ctrl[1]=ctrlLast[1]+0.05
+        elif ctrl[1]-ctrlLast[1] < -0.5:
+            ctrl[1]=ctrlLast[1]-0.05        
+        ctrlLast = ctrl
+        # if control signals is obtained, send to Pixhawk
+
+        mav.SendVelFRD(ctrl[0], ctrl[1], ctrl[2], ctrl[3])
--- a/基础智能/e14.四旋翼无人机跟踪小球实验/ShootBall3HITL.bat
+++ b/基础智能/e14.四旋翼无人机跟踪小球实验/ShootBall3HITL.bat
@@ -0,0 +1,177 @@
+@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., 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=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
+)
+
+
+
+ECHO.
+ECHO ---------------------------------------
+REM Get the Com port number
+for /f "delims=" %%t in ('%PSP_PATH%\CopterSim\GetComList.exe 3 %BaudRate%') do set ComInfoStr=%%t
+
+for /f "tokens=1,2,3 delims=#" %%a in ("%ComInfoStr%") do (
+    set ComNumExe=%%a
+    set ComNameList=%%b
+    set ComInfoList=%%c
+)
+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%
+    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"
+tasklist|find /i "python.exe" && taskkill /f /im "python.exe"
+tasklist|find /i "cmd.exe" && taskkill /f /im "cmd.exe"
+
+ECHO Start End.
--- a/基础智能/e14.四旋翼无人机跟踪小球实验/ShootBall3SITL.bat
+++ b/基础智能/e14.四旋翼无人机跟踪小球实验/ShootBall3SITL.bat
@@ -0,0 +1,162 @@
+@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
+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.
--- a/基础智能/e14.四旋翼无人机跟踪小球实验/WinWSL.bat
+++ b/基础智能/e14.四旋翼无人机跟踪小球实验/WinWSL.bat
@@ -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 
+
--- a/基础智能/e14.四旋翼无人机跟踪小球实验/WslGUI.bat
+++ b/基础智能/e14.四旋翼无人机跟踪小球实验/WslGUI.bat
@@ -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"
--- a/基础智能/e14.四旋翼无人机跟踪小球实验/名称-无人机跟踪小球实验.txt
+++ b/基础智能/e14.四旋翼无人机跟踪小球实验/名称-无人机跟踪小球实验.txt