【PX4二次开发】Jmavsim仿真界面的基本操作

PX4仿真Jmavsim界面的基本操作

2020.12.20
“JMAVSim is a simple and lightweight multirotor simulator. It connects directly to the hardware-in-the-loop (HITL, via serial) or software-in-the-loop (SITL, via UDP) instance of the autopilot.”

下载PX4-autopilot固件，打开Jmavsim后,可进行如下键盘操作：

视角调整:

F - 第一人称视角.
S - 地面固定视角.
G - 稳定云台视角.
Z - 切换视角.
+/- - 放大/缩小
0/ENTER - 恢复默认视野设置.

仿真操作:

Q - 取消基于mavlink协议的仿真.
I - 使能mavlink仿真.
H - 切换仪表盘.
C - 清除仪表盘上数据.
R - 打开/关闭侧栏日志.
T - 更新日志.
D - 打开/关闭侧栏传感器参数.
F1 - Show this key commands reference.
P - 暂停.
ESC - 退出仿真.
SPACE - 重置飞行器回到初始位置.

多飞行器：

ARROW KEYS - Rotate around pitch/roll.
END/PG-DN - Rotate CCW/CW around yaw.
SHIFT + ARROWS - Move N/S/E/W.
SHIFT + INS/DEL - Move Up/Down.
NUMPAD 8/2/4/6 - Start/increase rotation rate around pitch/roll axis.
NUMPAD 1/3 - Start/increase rotation rate around yaw axis.
NUMPAD 5 - Stop all rotation.
CTRL + NUMPAD 5 - Reset vehicle attitude, velocity, & accelleration.

多飞行器环境:

ALT +

ARROW KEYS - Increase wind deviation in N/S/E/W direction.
INS/DEL - Increase wind deviation in Up/Down direction.
NUMPAD 8/2/4/6 - Increase wind speed in N/S/E/W direction.
NUMPAD 7/1 - Increase wind speed in Up/Down direction.
NUMPAD 5 - Stop all wind and deviations.
CTRL+ Manipulate - Rotate/move/increase at a higher/faster rate.