TESTING.md

Testing locally with Ardupilot, MavProxy, SITL and X-Plane

It's possible to use SITL with X-Plane:

http://ardupilot.org/dev/docs/sitl-with-xplane.html

Install dependencies:

brew install [email protected]

Verify with: python --version.

Remove this incompatible library:

sudo pip uninstall python-dateutil

Install MavProxy

sudo pip install wxPython
sudo pip install gnureadline
sudo pip install billiard
sudo pip install numpy pyparsing
sudo pip install MAVProxy

Ardupilot

Install Ardupilot dependencies:

brew tap ardupilot/homebrew-px4
brew install genromfs
brew install gcc-arm-none-eabi
brew install gawk

Download Ardupilot:

git clone [email protected]:ArduPilot/ardupilot.git

Build Ardupilot for macOS:

cd ardupilot && ./Tools/environment_install/install-prereqs-mac.sh

Add the following to your shell:

export PATH=/Path/To/ardupilot/Tools/autotest:$PATH

Configure Ardupilot for SITL:

cd ardupilot
./waf configure --board sitl
cd ArduCopter
sim_vehicle.py -w

After initialisation Ctl C and run the following:

sim_vehicle.py --console

Start X-Plane and set up the data export settings per web page, then run arduplane and mavproxy

mavproxy.py --master=tcp:127.0.0.1:5760 --out 127.0.0.1:14550

Then

mix run scripts/listen.exs

will receive messages

to kill emlid noise bug in mavproxy:

set shownoise False

Which can also be added to ~/.mavinit.scr to run every time mavproxy.py runs.

Testing against real message definition files

In another directory (like ..):

git clone [email protected]:mavlink/mavlink.git
cd elixir-mavlink

The message definitions live in:

message_definitions/v1.0

To generate a protocol file for APM:

mkdir message_definitions
cp ../mavlink/message_definitions/v1.0/* message_definitions
mix mavlink message_definitions/ardupilotmega.xml output/apm.ex APM

Example usage

defmodule TestLog do
  def start do
    MAVLink.Router.subscribe(message: APM.Message.VfrHud)
    # MAVLink.Router.subscribe(message: APM.Message.SysStatus)
    # MAVLink.Router.subscribe(message: APM.Message.Heartbeat)
    # MAVLink.Router.subscribe(message: APM.Message.GlobalPositionInt)
    loop()
  end

  def loop do
    receive do
      x ->
        IO.inspect(x)
        loop()
    end
  end
end

TestLog.start()