资源
闫刚 px4 sitl软件在环仿真
编译
切换到v1.11.0-beta1版本,编译posix_sitl_test,生成px4可执行文件
1. git check tag_vv1.11.0-beta1
2. make px4_sitl jmavsim
分析px4可执行文件中编译了那些模块
通过px4的elf分析代码中有那些模块,同时知道了main的入口,readelf -s xxx表示读取可执行文件的代码段
yangang@ubuntu:~/work/Firmware$ readelf -s build/px4_sitl_default/bin/px4 | grep -n "main.cpp"
1057: 11: 0000000000000000 0 FILE LOCAL DEFAULT ABS main.cpp
1076: 30: 0000000000000000 0 FILE LOCAL DEFAULT ABS cdevtest_main.cpp
1077: 31: 0000000000000000 0 FILE LOCAL DEFAULT ABS controllib_test_main.cpp
1082: 36: 0000000000000000 0 FILE LOCAL DEFAULT ABS wqueue_main.cpp
1094: 48: 0000000000000000 0 FILE LOCAL DEFAULT ABS uORB_tests_main.cpp
1233: 187: 0000000000000000 0 FILE LOCAL DEFAULT ABS ekf2_main.cpp
1255: 209: 0000000000000000 0 FILE LOCAL DEFAULT ABS land_detector_main.cpp
1294: 248: 0000000000000000 0 FILE LOCAL DEFAULT ABS mavlink_main.cpp
1361: 315: 0000000000000000 0 FILE LOCAL DEFAULT ABS mc_att_control_main.cpp
1364: 318: 0000000000000000 0 FILE LOCAL DEFAULT ABS mc_pos_control_main.cpp
1375: 329: 0000000000000000 0 FILE LOCAL DEFAULT ABS navigator_main.cpp
1400: 354: 0000000000000000 0 FILE LOCAL DEFAULT ABS replay_main.cpp
1455: 409: 0000000000000000 0 FILE LOCAL DEFAULT ABS vtol_att_control_main.cpp
1567: 521: 0000000000000000 0 FILE LOCAL DEFAULT ABS hrt_test_main.cpp
1568: 522: 0000000000000000 0 FILE LOCAL DEFAULT ABS listener_main.cpp
1587: 541: 0000000000000000 0 FILE LOCAL DEFAULT ABS work_queue_main.cpp
1591: 545: 0000000000000000 0 FILE LOCAL DEFAULT ABS main.cpp
1600: 554: 0000000000000000 0 FILE LOCAL DEFAULT ABS hello_main.cpp
1603: 557: 0000000000000000 0 FILE LOCAL DEFAULT ABS main.cpp
安装jmavsim的依赖
sudo add-apt-repository ppa:openjdk-r/ppa
sudo apt-get update
sudo apt-get install openjdk-8-jdk
sudo apt-get install ant openjdk-8-jdk openjdk-8-jre
## 切换到vv1.11.0-beta1最近版本
git checkout v1.11.0-beta1
jmavsim启动失败!!!!!!
$ make px4_sitl jmavsim
com.jogamp.opengl.GLException: X11GLXDrawableFactory - Could not initialize shared resources for X11GraphicsDevice[type .x11, connection :0, unitID 0, handle 0x0, owner false, ResourceToolkitLock[obj 0x117719aa, isOwner false, <451c54bf, 767aa9a5>[count 0, qsz 0, owner <NULL>]]]
at jogamp.opengl.x11.glx.X11GLXDrawableFactory$SharedResourceImplementation.createSharedResource(X11GLXDrawableFactory.java:326)
at jogamp.opengl.SharedResourceRunner.run(SharedResourceRunner.java:297)
at java.lang.Thread.run(Thread.java:748)
Caused by: java.lang.NullPointerException
at jogamp.opengl.GLContextImpl.makeCurrent(GLContextImpl.java:688)
at jogamp.opengl.GLContextImpl.makeCurrent(GLContextImpl.java:580)
at jogamp.opengl.x11.glx.X11GLXDrawableFactory$SharedResourceImplementation.createSharedResource(X11GLXDrawableFactory.java:297)
... 2 more
com.jogamp.opengl.GLException: J3D-Renderer-1: createImpl ARB n/a but required, profile > GL2 requested (OpenGL >= 3.1). Requested: GLProfile[GL3bc/GL3bc.hw], current: 3.0 (Compat profile, compat[ES2], FBO, hardware) - 3.0 Mesa 18.0.5
at jogamp.opengl.x11.glx.X11GLXContext.createImpl(X11GLXContext.java:418)
at jogamp.opengl.GLContextImpl.makeCurrentWithinLock(GLContextImpl.java:759)
at jogamp.opengl.GLContextImpl.makeCurrent(GLContextImpl.java:642)
at jogamp.opengl.GLContextImpl.makeCurrent(GLContextImpl.java:580)
at javax.media.j3d.JoglPipeline$QueryCanvas.doQuery(JoglPipeline.java:8615)
at javax.media.j3d.JoglPipeline$QueryCanvas.access$100(JoglPipeline.java:8566)
at javax.media.j3d.JoglPipeline.createQueryContext(JoglPipeline.java:6562)
at javax.media.j3d.Canvas3D.createQueryContext(Canvas3D.java:4609)
at javax.media.j3d.Canvas3D.createQueryContext(Canvas3D.java:3606)
at javax.media.j3d.Renderer.doWork(Renderer.java:461)
修改方法:
在.bashrc中添加以下内容
export SVGA_VGPU10=0
启动sitl_run的命令分析如下
$ ./Tools/sitl_run.sh /home/yangang/work/Firmware/build/px4_sitl_default/bin/px4 none jmavsim none /home/yangang/work/Firmware /home/yangang/work/Firmware/build/px4_sitl_default
/Tools/sitl_run.sh /home/yangang/work/Firmware/build/px4_sitl_default/bin/px4 none jmavsim none /home/yangang/work/Firmware /home/yangang/work/Firmware/build/px4_sitl_default
SITL ARGS
sitl_bin: /home/yangang/work/Firmware/build/px4_sitl_default/bin/px4
debugger: none
program: jmavsim
model: none
src_path: /home/yangang/work/Firmware
build_path: /home/yangang/work/Firmware/build/px4_sitl_default
empty model, setting iris as default
SITL COMMAND: "/home/yangang/work/Firmware/build/px4_sitl_default/bin/px4" "/home/yangang/work/Firmware"/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t "/home/yangang/work/Firmware"/test_data
INFO [px4] Creating symlink /home/yangang/work/Firmware/ROMFS/px4fmu_common -> /home/yangang/work/Firmware/build/px4_sitl_default/tmp/rootfs/etc
______ __ __ ___
| ___ \ \ \ / / / |
| |_/ / \ V / / /| |
| __/ / \ / /_| |
| | / /^\ \ \___ |
\_| \/ \/ |_/
px4 starting.
INFO [px4] Calling startup script: /bin/sh etc/init.d-posix/rcS 0
INFO [param] selected parameter default file eeprom/parameters_10016
[param] Loaded: eeprom/parameters_10016
INFO [dataman] Unknown restart, data manager file './dataman' size is 11798680 bytes
INFO [simulator] Waiting for simulator to connect on TCP port 4560
Buildfile: /home/yangang/work/Firmware/Tools/jMAVSim/build.xml
make_dirs:
compile:
create_run_jar:
copy_res:
BUILD SUCCESSFUL
Total time: 0 seconds
Options parsed, starting Sim.
Starting GUI...
3D [dev] 1.6.0-pre12-daily-experimental daily
Exception in thread "AWT-EventQueue-0" java.lang.NullPointerException
at me.drton.jmavsim.Visualizer3D.getVectorToTargetObject(Visualizer3D.java:695)
at me.drton.jmavsim.Visualizer3D.setDynZoomDistance(Visualizer3D.java:623)
at me.drton.jmavsim.Visualizer3D$KeyboardHandler.keyReleased(Visualizer3D.java:1160)
at java.awt.Component.pro
建议: 直接使用sitl_run,否则会出现一些问题
启动飞机
px4> commander takeoff