Usage¶
PaGS can be used in two ways: either as a standalone GCS or as part of a larger application.
Standalone¶
To run standalone:
pags.py
The following commandline arguments can be used:
--source=tcpclient:127.0.0.1:5760:1:0
Connection in format connectiontype:connectionstr:sys:comp--mav=2
Mavlink Version (1 or 2)--dialect=ardupilotmega
MAVLink dialect--source-system=255
MAVLink source system for this GCS--source-component=0
MAVLink source component for this GCS--multi
--nogui
Disable usage of a GUI--sitl=n
Connect to Ardupilot SITL instance, wheren
is the instance ID (ID is required).
(Default values of each argument are shown above).
For the connection sources (--source
), the connection types can be:
tcpclient
with the connectionstr beingremoteip:port
tcpserver
with the connectionstr beinglocalip:port
udpserver
with the connectionstr beinglocalip:port
udpclient
with the connectionstr beingremoteip:port
serial
with the connectionstr beingserialport:baud
, iesource=serial:COM17:115200:1:0
The sys
is the System ID of the remote vehicle and the comp
is the component ID of the vehicle.
These are typically 1 and 0 respectively for Ardupilot with the default parameters.
Multiple --source
can be used. Each system ID is assumed to be a different vehicle. Thus multiple connections
to a single vehicle can be used.
In the alternate case, where multiple vehicles (each with a different System ID) are on a single connection,
simply repeat the --source
with the same connectionstr and the relevent (differerent) source ID’s.
If using the --sitl
options, multiple connections to different APM SITL instances can be used. For example, to connect to 3 SITL instances: --sitl=0 --sitl=1 --sitl=2
If neither the --source
and --sitl
arguments are used, PaGS will first look for any USB-connected flight controllers and attempt to connect at a buad rate of 115200, otherwise it will connect to a UDP server on localhost, port 14550.
As an example:
- Vehicle 1 (System ID 1) and Vehicle 3 (System ID) are both on serial port COM17, baud 57600
- Vehicle 2 (System ID 22) is on tcpserver 192.168.0.1:14500 and a secondary link on udpclient 192.168.0.10:14600
Gives:
pags.py --source=serial:COM17:57600:1:0 --source=serial:COM17:57600:3:0 --source=tcpserver:192.168.0.1:14500:22:0 -source=udpclient:192.168.0.10:14600:22:0