This repository contains the basic motion (landing-takeoff, right-left, up-down) codes of a vehicle belonging to the rotary wing UAV category, as well as several mission execution algorithms.

Below is the step-by-step installation of Ardupilot software and Gazebo simulation environment on Linux OS (Ubuntu 18.04 and above):

1. First, open the Terminal (Ctrl+Alt+T) and download the necessary files for Ardupilot by entering the following commands in order:

sudo apt-get update

If it asks for a user password, you can enter it and continue.

sudo apt-get install git

You will see the question Do you want to contuniue [Y/n]?. Continue by pressing Enter you can.

sudo apt-get install gitk git-gui

You will see the question Do you want to contuniue [Y/n]?. Continue by pressing Enter you can.

Then we enter the following commands in order:

git clone https://github.com/your-github-userid/ardupilot

This process may take a while.

After downloading the file from Github, we go to the ardupilot folder:

cd ardupilot

Then we perform the update process:

git submodule update --init --recursive

After the process is finished, we can close the terminal.

After closing, click on Files from the taskbar and find the Ardupilot folder. Right click on the folder and open it in Terminal.

Immediately after opening it:

Tools/environment_install/install-prereqs-ubuntu.sh -y

We enter the command. We continue by entering the user password.

Then we enter

~/.profile

command.

Now we can close the terminal. After closing, we log out and log in again (you can also Restart)

After logging in again, we open the Terminal and start the Ardupilot STIL application:

cd ardupilot/ArduCopter

Afterwards

sim_vehicle.py -w

command. After the process is finished, kill the command by Ctrl+C and then

sim_vehicle.py --console --map

We enter the command

To update MavProxy and pymavlink we enter the following command:

pip install --upgrade pymavlink MAVProxy --user

After it is finished, we can now install the Gazebo.

By entering the commands in order, you can successfully set up the Gazebo and use ardupilot you can run it together.

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

wget https://packages.osrfoundation.org/gazebo.key -O - | | sudo apt-key add -

sudo apt update

sudo apt-get install gazebo9

sudo apt-get install libgazebo9-dev

git clone https://github.com/khancyr/ardupilot_gazebo

cd ardupilot_gazebo

mkdir build

cd build

cmake..

make -j4

sudo make install

echo 'source /usr/share/gazebo/setup.sh' >> ~/.bashrc

echo 'export GAZEBO_MODEL_PATH=~/ardupilot_gazebo/models' >> ~/.bashrc

. ~/.bashrc

If these commands were executed successfully, then Gazebo is installed. Warning: If you are using a virtual machine (not recommended, you can choose to dual boot instead) you will need to enter these two commands:

export SVGA_VGPU10=0

echo "export SVGA_VGPU10=0" >> ~/.bashrc

If you are not using a virtual machine (i.e. dual boot) you can ignore these commands.

Now:

Clear

Let's clear the terminal with the command...

Let's start Gazeboyu and Arrdupilot STYLE:

gazebo --verbose worlds/iris_arducopter_runway.world

Gazebo will open (it may take a long time the first time you enter). Once it is open, you can create a new terminal by going to File\New Tab in the top left of the terminal. page. In order :

cd ~/ardupilot/ArduCopter

and then:

../Tools/autotest/sim_vehicle.py -f gazebo-iris --console --map

We enter the commands.

That's it...