Reduce SITL startup time

zhiwei_Chang · October 25, 2022, 12:58pm

We run the script sim_vehicle.py -w --console --map to start SITL，and this command spends us about 6s. Can we reduce startup time by simplifying certain steps？

Mustafa_Gokce · October 25, 2022, 1:36pm

You can start the simulations with binaries.
And with SIM_SPEEDUP more than 1, you can reduce GPS fix time.
Don’t forget to bring it back to 1 if you want to do things at real-world speed.

zhiwei_Chang · October 26, 2022, 1:13am

Oh,thanks,but i’m not very clear how to use the binaried, can you gave me some help?

Mustafa_Gokce · October 26, 2022, 6:29am

Here is an example.

github.com

mustafa-gokce/ardupilot-software-development/blob/main/environment-setup/quickstart.sh

#!/bin/bash

# install necessary packages
sudo apt-get install nano screen terminator python3-pip python3-dev python3-opencv python3-wxgtk4.0 python3-matplotlib python3-lxml python3-pygame

# install python modules
/usr/bin/python3 -m pip install PyYAML MAVProxy dronekit

# add path to bashrc
echo "export PATH=$PATH:$HOME/.local/bin" >> ~/.bashrc

# give permission to connect serial devices
sudo usermod -a -G dialout "$USER"

# go to home directory
cd "$HOME" || exit 1

# create simulation directory
mkdir -p "$HOME/ardu-sim/"

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zhiwei_Chang · October 26, 2022, 6:32am

This helps me a lot, thank you very much!