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ICAROUS

Running Icarous in simulation

The RunPySim.py script can be used to simulate a scenario. Provide as input the flightplan the unmanned vehicle is required to fly, zero or more Keep-in and/or Keep-out geofence constraints the vehicle should satisfy and zero or more intruders.

  • Input flightplans are provided in the mavlink format.
  • Geofences are defined using a simple yaml file. Refer to geofence.yaml for an example.
  • Intruder initial conditions are defined using a simple yaml file. See traffic.yaml for an example.
  • Icarous configurations are defined in a .txt file. see IcarousConfig.txt

Refer to the help for more information on flags:

python3 RunPySim.py --help

Example

A simple example simulating an encounter with a traffic intruder is provided. To simulate and visualize an animation of the simulation, try the following script:

python3 RunPySim.py -t data/traffic.txt

Visualization

The above simulation produces a log/simlog-SPEEDBIRD.json log file. Use the VisualizeLog.py script to visualize the simulation.

python3 VisualizeLog.py log/simlog-SPEEDBIRD.json

Checkout the help for more options:

python3 VisualizeLog.py --help

Executing cFS

The cFS core executive is launched by running the core-cpu1 executable. This is installed in exe/cpu1 after running make install in the previous section.

This cFS executable in turn launches the varous applications configured to run in the exe/cpu1/cfe_core_cpu1.scr. The CMake build system in the ICAROUS repository automatically generates a cfe_core_cpu1.scr file with the appropriate apps that are configured to run. More information about specific applications and their functions can be found in the applications section.

# running the cFS executive
./core-cpu1 -C 1 -I 0

The argument C denotes the cpu id, and I denotes the spacecraft id.

Various configuration files are located under exe/ram. IcarousConfig.txt contain key configuration parameters used by the underlying core modules.

With cFS running, you should be able to receive telemetry on a ground station (if you are running the gsInterface application).