fix：新增例程

基础智能/e5.2机碰撞实验/CollisionDemo.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 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=2
+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"
+
+ECHO Start End.

基础智能/e5.2机碰撞实验/CollisionDemo.py

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+import time
+import math
+import sys
+
+import PX4MavCtrlV4 as PX4MavCtrl
+import UE4CtrlAPI
+ue = UE4CtrlAPI.UE4CtrlAPI()
+
+#Create a new MAVLink communication instance, UDP sending port (CopterSim’s receving port) is 20100
+mav = PX4MavCtrl.PX4MavCtrler(1)
+mav2 = PX4MavCtrl.PX4MavCtrler(2)
+
+ue.sendUE4Cmd('RflyChangeViewKeyCmd S',0) #开启标号显示
+time.sleep(0.5)
+ue.sendUE4Cmd('RflyChangeViewKeyCmd T',0) #开启标号显示
+time.sleep(0.5)
+ue.sendUE4Cmd('RflyChangeViewKeyCmd P',0)  #开启碰撞引擎
+time.sleep(5)
+
+
+#Turn on MAVLink to monitor CopterSim data and update it in real time. 
+mav.InitMavLoop()
+mav2.InitMavLoop()
+time.sleep(0.5)
+
+
+#Display Position information received from CopterSim
+print(mav.uavPosNED)
+
+
+#Turn on Offboard mode
+mav.initOffboard()
+mav2.initOffboard()
+# Send the desired position signal, fly to the target point 0,0, -1.7 position, the yaw angle is 0
+
+
+mav.SendPosNED(0, 0, -1.7, 0) 
+mav2.SendPosNED(2, -2, -1.7, 0) 
+
+print("Send target Pos")
+#Send arm command to arm the drone
+mav.SendMavArm(True) 
+mav2.SendMavArm(True) 
+print("Send Arm Command")
+
+time.sleep(15)
+
+# Send the desired speed signal, 0.2m/s downwards, the z-axis downward is positive
+mav.SendVelNED(1, 0, 0, 0) 
+mav2.SendVelNED(-1, 0, 0, 0) 
+print("Send Velocity Speed")
+
+hasV1Crashed=False
+hasV2Crashed=False
+startTime = time.time()
+lastTime = time.time()
+timeInterval = 1/30.0 # time interval of the timer
+while True:
+    # The above code will be executed 30Hz (0.033333s)    
+    lastTime = lastTime + timeInterval
+    sleepTime = lastTime - time.time()
+    if sleepTime > 0:
+        time.sleep(sleepTime)
+    else:
+        lastTime = time.time()
+    
+    #使用mav.isVehicleCrash来检测飞机是否碰撞
+    if (not hasV1Crashed) and mav.isVehicleCrash:
+        print('Vehicle #1 Crashed with vehicle #',mav.isVehicleCrashID)
+        hasV1Crashed=True
+    
+    #使用mav2.isVehicleCrash来检测飞机是否碰撞
+    if (not hasV2Crashed) and mav2.isVehicleCrash:
+        print('Vehicle #2 Crashed with vehicle #',mav2.isVehicleCrashID)
+        hasV2Crashed=True
+        
+    if hasV2Crashed and hasV1Crashed:
+        time.sleep(4)
+        break
+
+
+#Exit Offboard control mode
+print("Send offboard stop")
+mav.endOffboard()
+mav2.endOffboard()
+time.sleep(1)
+
+#Exit MAVLink data receiving mode
+print("Send Mavlink stop")
+mav.stopRun()
+mav2.stopRun()
+time.sleep(1)
+#while True:
+#    print(mav.uavPosNED)
+#    time.sleep(2)

基础智能/e5.2机碰撞实验/Python38Run.bat

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+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%"