Traffic_Server

Running the traffic server with Valkenburg configuration

./VirtualEntityServer_cli -o output.log Valkenburg_InputFile.ini

Paparazzi

Starting

git checkout dynamic_avoidance

git submodule sync

git submodule update

make clean && make

cd sw/lib/python/pprz_math and make

./paparazzi

Running simulation

A/C = Easystar_Sim (Flight plan: flight_plans/tudelft/Valkenburg_EZ_avoidance_sim.xml)

Target: nps

Session: Sim_valkenburg_EZ

Running on disco

A/C = Disco (Airframe: airframes/OPENUAS/openuas_parrot_disco.xml) (Flight plan: flight_plans/tudelft/Valkenburg_disco_avoidance.xml)

Target = ap

Session = DiscoLongRangeXbee

Avoidance Server

Change commanded airspeed

/sw/ground_segment/python/no_fly_zones/traffic_server.py line 583 (second input variable in mission.Mission)

14. m/s for simulation

Find out airspeed for Disco

Change navigation block in which the avoidance runs

/sw/ground_segment/python/no_fly_zones/mission.py line 331 (for simulation 8, for disco 9)