Merge pull request #13 from ubcuas/updates-improvement

Copter Update & Custom Param File

README.md

@@ -68,6 +68,13 @@ To launch a single ArduCopter SITL on host TCP port 5760, with the ability for t
 docker run --rm -p 5760-5780:5760-5780 -it --network=gcom-x_uasnet --name=uasitl ubcuas/uasitl:copter
 ```
 
+To launch a single ArduCopter SITL on host TCP port 5760, with the ability for the rest of our services to connect, and with a custom parameter file located in the current directory:
+> **Note**
+> Docker volume mounts (-v option) needs absolute paths. `${PWD}` is a Windows Powershell variable that expands to the current working directory. For Linux, use `$(pwd)` and for Command Prompt use `%cd%`.
+```
+docker run --rm -p 5760-5780:5760-5780 -it --network=gcom-x_uasnet --name=uasitl -v ${PWD}/custom-copter.param:/custom-copter.param --env PARAM_FILE=/custom-copter.param ubcuas/uasitl:copter --defaults=/ardupilot/Tools/autotest/default_params/copter.parm
+```
+
 To launch a single ArduCopter SITL on host TCP port 5760:
 ```
 docker run --rm -p 5760-5780:5760-5780 -it --name=uasitl ubcuas/uasitl:copter

arm/Dockerfile

@@ -34,7 +34,7 @@ ARG VEHICLE_TYPE
 # if --build-arg VEHICLE_TYPE=1, set ARDUPILOT_TAG to 'Plane-X.X.X' or set to null otherwise.
 ENV ARDUPILOT_TAG=${VEHICLE_TYPE:+Plane-4.3.4}
 # if ARDUPILOT_TAG is null, set it to 'Copter-X.X.X' (or leave as is otherwise).
-ENV ARDUPILOT_TAG=${ARDUPILOT_TAG:-Copter-4.3.6}
+ENV ARDUPILOT_TAG=${ARDUPILOT_TAG:-Copter-4.3.7}
 
 # The ARDUPILOT repo and ref to use for the build
 ENV ARDUPILOT_REPO=https://github.com/ArduPilot/ardupilot.git
@@ -138,10 +138,12 @@ ENV VEHICLE $VEHICLE
 ENV NUMVEHICLES 1
 ENV INCREMENTSTEPLAT 0.01
 ENV INCREMENTSTEPLON 0.01
+# Default to no custom parameter file
+ENV PARAM_FILE "" 
 
 # Entrypoint
 COPY startArdupilotSITL.sh /
 # Give execute permissions
 RUN chmod +x /startArdupilotSITL.sh
 
-ENTRYPOINT /startArdupilotSITL.sh ${NUMVEHICLES} ${LAT} ${LON} ${ALT} ${DIR} ${INCREMENTSTEPLAT} ${INCREMENTSTEPLON} ${VEHICLE} ${VEHICLEMODEL} ${SPEEDUP}
+ENTRYPOINT /startArdupilotSITL.sh ${NUMVEHICLES} ${LAT} ${LON} ${ALT} ${DIR} ${INCREMENTSTEPLAT} ${INCREMENTSTEPLON} ${VEHICLE} ${VEHICLEMODEL} ${SPEEDUP}  ${PARAM_FILE}

lib/startArdupilotSITL.sh

@@ -7,14 +7,16 @@ initialAgentAlt=${4}
 initialAgentHeading=${5}
 incrementStepLat=${6}
 incrementStepLon=${7}
-VEHICLE=${8}
-VEHICLEMODEL=${9}
-SPEEDUP=${10}
+vehicle=${8}
+vehicleModel=${9}
+speedup=${10}
+paramFile=${11}
+paramFileArg=""
 
 incrementStepAlt=0
 incrementStepHdg=0
 
-echo "Number of ${VEHICLE}s: $numVehicles"
+echo "Number of ${vehicle}s: $numVehicles"
 
 # Start ArduPilots
 LAT=${initialAgentLat}
@@ -25,32 +27,38 @@ HDG=${initialAgentHeading}
 echo "Initial Position: $LAT,$LON,$ALT,$HDG"
 echo "Increment Lat: $incrementStepLat"
 echo "Increment Lon: $incrementStepLon"
-echo "VehicleModel: $VEHICLEMODEL"
-echo "Speedup: $SPEEDUP"
+echo "VehicleModel: $vehicleModel"
+echo "Speedup: $speedup"
 
 arduPilotInstance=0
 
+# Add param file if one is specified
+if [ -n "$paramFile" ]; then
+    paramFileArg="--add-param-file=${paramFile}"
+fi
+
 if [ $numVehicles -ne 0 ]; then
     for i in $(seq 0 $(($numVehicles-1))); do
 
             INSTANCE=$arduPilotInstance
 
-            export SITL_RITW_TERMINAL="screen -D -m -S ${VEHICLE}${INSTANCE}"
+            export SITL_RITW_TERMINAL="screen -D -m -S ${vehicle}${INSTANCE}"
 
-            rm -rf ./${VEHICLE}${INSTANCE}
-            mkdir ./${VEHICLE}${INSTANCE} && cd ${VEHICLE}${INSTANCE}
+            rm -rf ./${vehicle}${INSTANCE}
+            mkdir ./${vehicle}${INSTANCE} && cd ${vehicle}${INSTANCE}
 
             simCommand="/vehicle/Tools/autotest/sim_vehicle.py \
-                -I${INSTANCE} \
-                --vehicle ${VEHICLE} \
+                -I ${INSTANCE} \
+                --vehicle=${vehicle} \
                 --custom-location=${LAT},${LON},${ALT},${DIR} \
                 -w \
-                --speedup ${SPEEDUP} \
-                -f ${VEHICLEMODEL} \
+                --speedup ${speedup} \
+                --frame=${vehicleModel} \
                 --no-rebuild \
-                --no-mavproxy"
+                --no-mavproxy \
+                ${paramFileArg}"
 
-            echo "Starting Sim ${VEHICLE} with command '$simCommand'"
+            echo "Starting Sim ${vehicle} with command '$simCommand'"
             exec $simCommand &
             pids[${arduPilotInstance}]=$!
 

x86/Dockerfile

@@ -34,7 +34,7 @@ ARG VEHICLE_TYPE
 # if --build-arg VEHICLE_TYPE=1, set ARDUPILOT_TAG to 'Plane-X.X.X' or set to null otherwise.
 ENV ARDUPILOT_TAG=${VEHICLE_TYPE:+Plane-4.3.4}
 # if ARDUPILOT_TAG is null, set it to 'Copter-X.X.X' (or leave as is otherwise).
-ENV ARDUPILOT_TAG=${ARDUPILOT_TAG:-Copter-4.3.6}
+ENV ARDUPILOT_TAG=${ARDUPILOT_TAG:-Copter-4.3.7}
 
 # The ARDUPILOT repo and ref to use for the build
 ENV ARDUPILOT_REPO=https://github.com/ArduPilot/ardupilot.git
@@ -146,10 +146,12 @@ ENV VEHICLE $VEHICLE
 ENV NUMVEHICLES 1
 ENV INCREMENTSTEPLAT 0.01
 ENV INCREMENTSTEPLON 0.01
+# Default to no custom parameter file
+ENV PARAM_FILE "" 
 
 # Entrypoint
 COPY startArdupilotSITL.sh /
 # Give execute permissions
 RUN chmod +x /startArdupilotSITL.sh
 
-ENTRYPOINT /startArdupilotSITL.sh ${NUMVEHICLES} ${LAT} ${LON} ${ALT} ${DIR} ${INCREMENTSTEPLAT} ${INCREMENTSTEPLON} ${VEHICLE} ${VEHICLEMODEL} ${SPEEDUP}
+ENTRYPOINT /startArdupilotSITL.sh ${NUMVEHICLES} ${LAT} ${LON} ${ALT} ${DIR} ${INCREMENTSTEPLAT} ${INCREMENTSTEPLON} ${VEHICLE} ${VEHICLEMODEL} ${SPEEDUP} ${PARAM_FILE}