AirSim+PX4联合仿真

AirSim启动设置

windows上的AirSim要想通过PX4进行控制，需要配置一下参数，进入如下路径的AirSim文件，找到settings.json文件，采用记事本打开，并编辑里面的内容。

可以参考如下内容：其中ip要对应，linux上PX4导入的ip即为此处的localhostip，也是WSL服务的ip。

{
  "SettingsVersion": 1.2,
  "SimMode": "Multirotor",
  "ClockType": "SteppableClock",
  "Vehicles": {
    "PX4": {
      "VehicleType": "PX4Multirotor",
      "UseSerial": false,
      "LockStep": true,
      "UseTcp": true,
      "TcpPort": 4560,
      "ControlIp": "remote",
      "ControlPortLocal": 14540,
      "ControlPortRemote": 14580,
      "LocalHostIp": "172.18.49.113",
      "Sensors":{
        "Barometer":{
          "SensorType": 1,
          "Enabled": true,
          "PressureFactorSigma": 0.0001825
        },
        "Imu": {
          "SensorType": 2,
          "Enabled" : true,
          "AngularRandomWalk": 0.3,
          "GyroBiasStabilityTau": 500,
          "GyroBiasStability": 4.6,
          "VelocityRandomWalk": 0.24,
          "AccelBiasStabilityTau": 800,
          "AccelBiasStability": 36
        },
        "Gps": {
          "SensorType": 3,
          "Enabled" : true,
          "EphTimeConstant": 0.9,
          "EpvTimeConstant": 0.9,
          "EphInitial": 25,
          "EpvInitial": 25,
          "EphFinal": 0.1,
          "EpvFinal": 0.1,
          "EphMin3d": 3,
          "EphMin2d": 4,
          "UpdateLatency": 0.2,
          "UpdateFrequency": 50,
          "StartupDelay": 1
        },
        "Distance": {
          "SensorType": 5,
          "Enabled" : true,
          "MinDistance": 0.2,
          "MaxDistance": 40,
          "X": 0, "Y": 0, "Z": -1,
          "Yaw": 0, "Pitch": 0, "Roll": 0,
          "DrawDebugPoints": false
        }
      },
      "Parameters": {
        "NAV_RCL_ACT": 0,
        "NAV_DLL_ACT": 0,
        "COM_OBL_ACT": 1,
        "LPE_LAT": 47.641468,
        "LPE_LON": -122.140165
      }
    }
  }
}

配置成功后进入下载并配置AirSim的场景文件中，双击打开启动文件

启动后点击运行，右侧出现等待连接状态