Can't start sim_vehicle.py on Windows 10

ArduCopter
1

I guess it’s kind of a widespread error, but pretty much everything that i’ve found on the internet didn’t help… I’ve followed the Setting up SITL on Windows guide, got everything installed (at least it seems to be so) but whenever i try to start sim_vehicle, I get this:

BUILD SUMMARY

Build directory: /home/maxil/ardupilot/build/sitl

Target Text Data BSS Total

bin/arducopter-quad 1389721 51040 416 1441177

Build commands will be stored in build/sitl/compile_commands.json
‘build’ finished successfully (4.069s)
SIM_VEHICLE: Using defaults from (/home/maxil/ardupilot/Tools/autotest/default_params/copter.parm)
SIM_VEHICLE: Run ArduCopter
SIM_VEHICLE: “/home/maxil/ardupilot/Tools/autotest/run_in_terminal_window.sh” “ArduCopter” “/home/maxil/ardupilot/build/sitl/bin/arducopter-quad” “-S” “-I0” “–home” “-35.363261,149.165230,584,353” “–model” “+” “–speedup” “1” “–defaults” “/home/maxil/ardupilot/Tools/autotest/default_params/copter.parm”
SIM_VEHICLE: Run MavProxy
SIM_VEHICLE: “/usr/bin/cygstart” “-w” “/cygdrive/c/Program Files (x86)/MAVProxy/mavproxy.exe” “–master” “tcp:127.0.0.1:5760” “–sitl” “127.0.0.1:5501” “–out” “127.0.0.1:14550” “–out” “127.0.0.1:14551” “–map” “–console”
RiTW: Starting ArduCopter : /home/maxil/ardupilot/build/sitl/bin/arducopter-quad -S -I0 --home -35.363261,149.165230,584,353 --model + --speedup 1 --defaults /home/maxil/ardupilot/Tools/autotest/default_params/copter.parm
which: no osascript in (/usr/local/bin:/usr/bin:/cygdrive/c/Program Files (x86)/Common Files/Intel/Shared Libraries/redist/intel64_win/compiler:/cygdrive/c/Program Files (x86)/Embarcadero/Studio/20.0/bin:/cygdrive/c/Users/Public/Documents/Embarcadero/Studio/20.0/Bpl:/cygdrive/c/Program Files (x86)/Embarcadero/Studio/20.0/bin64:/cygdrive/c/Users/Public/Documents/Embarcadero/Studio/20.0/Bpl/Win64:/cygdrive/c/Windows/system32:/cygdrive/c/Windows:/cygdrive/c/Windows/System32/Wbem:/cygdrive/c/Windows/System32/WindowsPowerShell/v1.0:/cygdrive/c/Windows/System32/OpenSSH:/cygdrive/c/Program Files (x86)/NVIDIA Corporation/PhysX/Common:/cygdrive/c/Program Files/NVIDIA Corporation/NVIDIA NvDLISR:/cygdrive/c/Program Files/Git/cmd:/cygdrive/c/Program Files/Git LFS:/cygdrive/c/Program Files/Polyspace/R2019b/runtime/win64:/cygdrive/c/Program Files/Polyspace/R2019b/bin:/cygdrive/c/Program Files/Polyspace/R2019b/polyspace/bin:/cygdrive/c/Program Files (x86)/MAVProxy:/cygdrive/c/Program Files (x86)/MAVProxy:/cygdrive/c/Program Files (x86)/MAVProxy:/cygdrive/c/Users/maxil/AppData/Local/Programs/Python/Python36/Scripts:/cygdrive/c/Users/maxil/AppData/Local/Programs/Python/Python36:/cygdrive/c/Users/maxil/AppData/Local/Microsoft/WindowsApps:/cygdrive/c/Users/maxil/AppData/Local/GitHubDesktop/bin)
which: no konsole in (/usr/local/bin:/usr/bin:/cygdrive/c/Program Files (x86)/Common Files/Intel/Shared Libraries/redist/intel64_win/compiler:/cygdrive/c/Program Files (x86)/Embarcadero/Studio/20.0/bin:/cygdrive/c/Users/Public/Documents/Embarcadero/Studio/20.0/Bpl:/cygdrive/c/Program Files (x86)/Embarcadero/Studio/20.0/bin64:/cygdrive/c/Users/Public/Documents/Embarcadero/Studio/20.0/Bpl/Win64:/cygdrive/c/Windows/system32:/cygdrive/c/Windows:/cygdrive/c/Windows/System32/Wbem:/cygdrive/c/Windows/System32/WindowsPowerShell/v1.0:/cygdrive/c/Windows/System32/OpenSSH:/cygdrive/c/Program Files (x86)/NVIDIA Corporation/PhysX/Common:/cygdrive/c/Program Files/NVIDIA Corporation/NVIDIA NvDLISR:/cygdrive/c/Program Files/Git/cmd:/cygdrive/c/Program Files/Git LFS:/cygdrive/c/Program Files/Polyspace/R2019b/runtime/win64:/cygdrive/c/Program Files/Polyspace/R2019b/bin:/cygdrive/c/Program Files/Polyspace/R2019b/polyspace/bin:/cygdrive/c/Program Files (x86)/MAVProxy:/cygdrive/c/Program Files (x86)/MAVProxy:/cygdrive/c/Program Files (x86)/MAVProxy:/cygdrive/c/Users/maxil/AppData/Local/Programs/Python/Python36/Scripts:/cygdrive/c/Users/maxil/AppData/Local/Programs/Python/Python36:/cygdrive/c/Users/maxil/AppData/Local/Microsoft/WindowsApps:/cygdrive/c/Users/maxil/AppData/Local/GitHubDesktop/bin)
which: no gnome-terminal in (/usr/local/bin:/usr/bin:/cygdrive/c/Program Files (x86)/Common Files/Intel/Shared Libraries/redist/intel64_win/compiler:/cygdrive/c/Program Files (x86)/Embarcadero/Studio/20.0/bin:/cygdrive/c/Users/Public/Documents/Embarcadero/Studio/20.0/Bpl:/cygdrive/c/Program Files (x86)/Embarcadero/Studio/20.0/bin64:/cygdrive/c/Users/Public/Documents/Embarcadero/Studio/20.0/Bpl/Win64:/cygdrive/c/Windows/system32:/cygdrive/c/Windows:/cygdrive/c/Windows/System32/Wbem:/cygdrive/c/Windows/System32/WindowsPowerShell/v1.0:/cygdrive/c/Windows/System32/OpenSSH:/cygdrive/c/Program Files (x86)/NVIDIA Corporation/PhysX/Common:/cygdrive/c/Program Files/NVIDIA Corporation/NVIDIA NvDLISR:/cygdrive/c/Program Files/Git/cmd:/cygdrive/c/Program Files/Git LFS:/cygdrive/c/Program Files/Polyspace/R2019b/runtime/win64:/cygdrive/c/Program Files/Polyspace/R2019b/bin:/cygdrive/c/Program Files/Polyspace/R2019b/polyspace/bin:/cygdrive/c/Program Files (x86)/MAVProxy:/cygdrive/c/Program Files (x86)/MAVProxy:/cygdrive/c/Program Files (x86)/MAVProxy:/cygdrive/c/Users/maxil/AppData/Local/Programs/Python/Python36/Scripts:/cygdrive/c/Users/maxil/AppData/Local/Programs/Python/Python36:/cygdrive/c/Users/maxil/AppData/Local/Microsoft/WindowsApps:/cygdrive/c/Users/maxil/AppData/Local/GitHubDesktop/bin)
RiTW: Window access not found, logging to /tmp/ArduCopter.log
SIM_VEHICLE: MAVProxy exitted
SIM_VEHICLE: Killing tasks
SIM_VEHICLE: kill_tasks failed: a bytes-like object is required, not ‘str’

The log file has this:

Started model + at -35.363261,149.165230,584,353 at speed 1.0
Starting sketch ‘ArduCopter’
Starting SITL input
bind port 5760 for 0
Serial port 0 on TCP port 5760
Waiting for connection …

Mavproxy is installed, running mavproxy.py --version gives this
MAVProxy is a modular ground station using the mavlink protocol
MAVProxy Version: 1.8.20

I tried reinstalling from scratch, to no avail. Need help.

2

Are you using WSL or cygwin?
I got similar problems when building the code and I had to make a ./waf distclean and remove from the PATH everything that shouldn’t be there every time I switched from one console to another, because both PATHs get mixed somehow. In my case, in WSL, I run this before SITL:

export PATH=/home/echo/ardupilot/Tools/autotest:/opt/gcc-arm-none-eabi-6-2017-q2-update/bin:/home/echo/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/bin

Your username would be different, so keep in mind that it won’t work if you just copy-paste.


Also, you should install an X Server (VcXsrv) and run

export DISPLAY=:0.0

before running SITL, as explained in the documentation.