178 lines
5.1 KiB
Batchfile
178 lines
5.1 KiB
Batchfile
@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=VisionRing
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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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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.
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