arduplane_multiple.xml

<?xml version="1.0"?>
<?xml-stylesheet type="text/xsl" href="http://gtri.gatech.edu"?>
<runscript xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
    name="Straight flying">

  <!--  <run start="0.0" end="100" dt="0.00833333" -->
  <run start="0.0" end="10000000" dt="0.001"
       motion_multiplier="1"
       time_warp="1"
       enable_gui="${enable_gui=true}"
       network_gui="false"
       start_paused="false"/>

  <stream_port>50051</stream_port>
  <stream_ip>localhost</stream_ip>

  <end_condition>all_dead</end_condition> <!-- time, one_team, none-->

  <grid_spacing>10</grid_spacing>
  <grid_size>1000</grid_size>

  <terrain>${terrain=mcmillan}</terrain>
  <background_color>191 191 191</background_color> <!-- Red Green Blue -->
  <gui_update_period>10</gui_update_period> <!-- milliseconds -->

  <plot_tracks>false</plot_tracks>
  <output_type>all</output_type>
  <show_plugins>false</show_plugins>

  <metrics>SimpleCollisionMetrics</metrics>

  <log_dir>~/.scrimmage/logs</log_dir>

  <latitude_origin>${latitude_origin=34.458281}</latitude_origin>
  <longitude_origin>${longitude_origin=-84.180209}</longitude_origin>
  <altitude_origin>${altitude_origin=450}</altitude_origin>
  <show_origin>true</show_origin>
  <origin_length>10</origin_length>

  <network>LocalNetwork</network>
  <network>GlobalNetwork</network>

  <entity_interaction>SimpleCollision</entity_interaction>
  <entity_interaction enable_startup_collisions="false"
                      remove_on_collision="false">GroundCollision</entity_interaction>

  <!-- uncomment "seed" and use integer for deterministic results -->
  <!--<seed>2147483648</seed>-->

  <!-- ID: 1 -->
  <entity>
    <team_id>1</team_id>
    <color>77 77 255</color>
    <count>1</count>
    <health>1</health>
    <radius>1</radius>

    <x>0</x>
    <y>0</y>
    <z>0</z>
    <pitch>-20</pitch>
    <heading>${heading=0}</heading>

    <sensor>RigidBody6DOFStateSensor</sensor>

    <!-- Use this settings in SITL -->
    <autonomy ardupilot_port_base="5504"
              port_instance_multiplier="10"
              >ArduPilot</autonomy>

    <!-- Use this settings in HIL through mavproxy -->
    <!-- <autonomy to_ardupilot_port="5501" from_ardupilot_port="5502" mavproxy_mode="true">ArduPilot</autonomy> -->

    <controller>DirectController</controller>
    <!-- <motion_model drawVel="0" drawAngVel="0" drawAcc="0" use_launcher="1" launch_time="60" launch_accel="200">${motion_model=JSBSimControl}</motion_model> -->
    <motion_model drawVel="0" drawAngVel="0" drawAcc="0">${motion_model=JSBSimControl}</motion_model>
    <script_name>rascal_no_autopilot.xml</script_name>
    <visual_model>${visual_model=zephyr-blue}</visual_model>

  </entity>

  <!-- ID: 2 -->
  <entity>
    <team_id>1</team_id>
    <color>77 77 255</color>
    <count>1</count>
    <health>1</health>
    <radius>1</radius>

    <x>10</x>
    <y>10</y>
    <z>0</z>
    <pitch>-20</pitch>
    <heading>${heading=0}</heading>

    <sensor>RigidBody6DOFStateSensor</sensor>

    <!-- Use this settings in SITL -->
    <autonomy ardupilot_port_base="5504"
              port_instance_multiplier="10"
              >ArduPilot</autonomy>

    <!-- Use this settings in HIL through mavproxy -->
    <!-- <autonomy to_ardupilot_port="5501" from_ardupilot_port="5502" mavproxy_mode="true">ArduPilot</autonomy> -->

    <controller>DirectController</controller>
    <!-- <motion_model drawVel="0" drawAngVel="0" drawAcc="0" use_launcher="1" launch_time="60" launch_accel="200">${motion_model=JSBSimControl}</motion_model> -->
    <motion_model drawVel="0" drawAngVel="0" drawAcc="0">${motion_model=JSBSimControl}</motion_model>
    <script_name>rascal_no_autopilot.xml</script_name>
    <visual_model>${visual_model=zephyr-blue}</visual_model>

  </entity>

</runscript>