Faster SITL test setting (Copter 3.5.7)

ArduCopter Copter 3.5
1

Hi, all.

I am trying to test copter flight tests in auto mode multiple times.
I am using the default setup with the following guide (http://ardupilot.org/dev/docs/setting-up-sitl-on-linux.html)
However, I need to wait for the completion of the initialization step. (Until I saw “APM: EKF2 IMU0 is using GPS
APM: EKF2 IMU1 is using GPS” message)
Then, the following commands described in “http://ardupilot.org/dev/docs/copter-sitl-mavproxy-tutorial.html” works

  • mode guided
  • arm throttle
  • takeoff 40

However, it takes too much time. (about 50 sec?)
So… is there any way to save initialization time?

Note that, if I don’t wait for “APM: EKF2 IMU0 is using GPS, APM: EKF2 IMU1 is using GPS” message
It shows “APM: PreArm: Need 3D Fix” message.

Thank you

1 Like
2

hello,

You can speed up the time with the parameter SIM_SPEEDUP . Beware, mavproxy won’t follow the speedup and thus you can trigger failsafe.
Or you can use AHRS_EKF 10 to bypass EKF on SITL and use true ground position.

2 Likes
3

Hey,

I want to something similar, I want to automated some runs in order to run my experiments several times in a row. But I am not sure if understood correctly your reply.

Not sure if the param named changed, but do you mean AHRS_EKF_TYPE? Should I set it to disabled?

By the way, I am using ArduSub 4.1.1