use external autopilot-tools python package for autopilot configuration (#37)

Author: PonomarevDA

README.md

@@ -1,62 +1,28 @@
-# VTOL HITL Dynamics Simulator
+# UAV HITL Dynamics Simulator
 
-VTOL HITL Dynamics Simulator is a set of ROS packages proposed full simulation for UAV based on PX4/Ardupilot autopilot.
+UAV HITL Dynamics Simulator is a set of ROS packages proposed full simulation for UAV based on PX4/Ardupilot autopilot.
 
 ![dynamics](docs/img/dynamics.png?raw=true "dynamics")
 
 The key feature of this simulation is to run it in such a way that the hardware knows nothing about the simulation. This can be done with Cyphal/DroneCAN. It covers more PX4 modules than standard SITL and HITL.
 
 ## 1. Design
 
-VTOL HITL Dynamics Simulator is designed to be flexible.
-
-It supports multiple dynamics:
-- [inno_vtol](https://github.com/RaccoonlabDev/inno_vtol_dynamics),
-- [flightgoggles_multicopter](https://github.com/mit-aera/FlightGoggles)
-
-and protocols:
-- `MAVLink SITL`,
-- `DroneCAN HITL`,
-- `Cyphal HITL`.
-
-It is expected to use either PX4 or ArduPilot autopilots.
-
-The simulator is divided into the following main components:
+VTOL HITL Dynamics Simulator is designed to be modular. It is divided into the following main components:
 
 1. `UAV dynamics` is the main node that handles actuator commands from the communicator, performs dynamics simulation, and publishes vehicle and sensors states.
 2. `Communicator` is the set of nodes that communicate with the `PX4 flight stack` in HITL (via Cyphal/DroneCAN) and SITL (via MAVLink) modes.
-3. `inno_sim_interface` is a bridge for interaction with `Inno Simulator` through ROS.
+3. `inno_sim_interface` is a bridge for interaction with `3D-Simulator` through ROS.
 
 The design of the simulator is shown below.
 
 ![scheme](docs/img/scheme.png?raw=true "scheme")
 
-## 2. Supported modes
-
-The primaries modes are:
-
-| № | Autopilot | Communicator | dynamics | Airframe |
-| - | -------- | --------- | ------------ | -------- |
-| 1 | PX4 v1.12/v1.13 | DroneCAN HITL | inno_vtol | inno_standard_vtol [(13070)](https://github.com/PonomarevDA/Firmware/blob/px4_v1.12.1_inno_vtol_dynamics/ROMFS/px4fmu_common/init.d/airframes/13070_innopolis_vtol)
-| 2 | PX4 v1.13 | Cyphal HITL | inno_vtol | Generic Quadcopter [(4001)](https://dev.px4.io/master/en/airframes/airframe_reference.html#quadrotor-x)
-
-The following modes are supported as well, but they are not well-tested:
-
-| № | Autopilot | Communicator | dynamics | Airframe |
-| - | -------- | --------- | ------------ | -------- |
-| 1 | PX4 v1.12| DroneCAN HITL | quadcopter | iris [(10016)](https://github.com/PonomarevDA/Firmware/blob/px4_v1.12.1_inno_vtol_dynamics/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris) |
-| 2 | PX4 v1.12 | MAVLink SITL | inno_vtol | innopolis_vtol [(1050)](https://github.com/PonomarevDA/Firmware/blob/px4_v1.12.1_inno_vtol_dynamics/ROMFS/px4fmu_common/init.d-posix/airframes/1050_innopolis_vtol) |
-| 3 | PX4 v1.12 | MAVLink SITL | quadcopter | iris [(10016)](https://github.com/PonomarevDA/Firmware/blob/px4_v1.12.1_inno_vtol_dynamics/ROMFS/px4fmu_common/init.d-posix/airframes/10016_iris) |
-| 4 | ArduPilot v4.3/v4.4 | DroneCAN HITL | inno_vtol | copter |
-| 5 | ArduPilot v4.3/v4.4 | Cyphal HITL | inno_vtol | copter |
-
-New modes will be extended step by step.
-
-## 3. Usage
+## 2. Usage
 
-The instruction below discribes the most common use case: PX4 v1.13 in DroneCAN VTOL and Cyphal Quadcopter modes. If you want to use ArduPilot, another dynamic, airframe or SITL mode, you can still use this instruction, but it is recommended to read additional instructions.
-
-The simulator is distributed as a Docker image. If you want to contribute or try it without Docker, you can find more details in [the developer docs](docs/dev_docs.md).
+The simulator is distributed as a Docker image. It is recommended to use the `./scripts/docker.sh` script. It configures all the necessary Docker flags, performs automatic firmware upload,
+configuration, creates a CAN interface, and generally provides a simple interface to interact with
+the simulator.
 
 **Step 1. Clone repository with submodules**
 
@@ -72,129 +38,103 @@ git submodule update --init --recursive
 
 **Step 2. Build/pull the docker image**
 
-It is recommended to use the `./scripts/docker.sh` script. It configures all the necessary Docker flags, SLCAN and provides  a simple interface to interact with the simulator.
-
-To get help, just type:
-
-```bash
-./scripts/docker.sh --help
-```
-
 To build docker image, type:
 
 ```bash
 ./scripts/docker.sh build
 ```
 
-To pull docker image, type:
-
-```bash
-./scripts/docker.sh pull
-```
+> An image on dockerhub usually is not up to date, so it's better to build manually
 
-**Step 3. Connect everything together**
+**Step 3. Connect everything together for HITL**
 
-> This step is not necessary if you want to run PX4 MAVLink SITL mode. Please follow [docs/px4/mavlink](docs/px4/mavlink.md) instead.
+> You should skip this step if you want to run PX4 MAVLink SITL mode. Please follow [docs/px4/mavlink](docs/px4/mavlink.md) for details.
 
 Typically we use [CUAV v5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html) and [RL-programmer-sniffer](https://docs.raccoonlab.co/guide/programmer_sniffer/), but it might be anything else.
 
 An example of a connection is shown in the picture below.
 
 <img src="docs/img/sniffer_connection.png" alt="drawing" width="640"/>
 
-If you have a choice, it is sometimes preferable to use CAN1 on the autopilot side.
+All default parameters expect that you use CAN1 on the autopilot side.
 
-**Step 4. Upload firmware**
+**Step 4. Run the container in force mode**
 
-HITL simulator may require some additional features that the official PX4 and ArduPilot doesn't have.
+In `--force` mode the script automatically upload the required firmware and parameters corresponded
+to the specified mode, create SLCAN and run the container with required docker flags.
 
-The appropriated and ready to use binaries are uploaded here: [PX4](https://github.com/ZilantRobotics/PX4-Autopilot/releases) and [ArduPilot](https://github.com/ZilantRobotics/ardupilot/releases). Alternativelly, you can build the firmware manually.
+To run force mode you need to install [autopilot-tools](https://pypi.org/project/autopilot-tools/) python package: `pip install autopilot-tools`.
 
-For PX4 DroneCAN you can upload the firmware by typing the following 2 lines:
-
-```bash
-wget https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.13.0_hitl/px4_fmu-v5_default.px4
-./scripts/px4/upload.sh px4_fmu-v5_default.px4
-```
-
-For PX4 Cyphal you can upload the firmware by typing:
-
-```bash
-wget https://github.com/ZilantRobotics/PX4-Autopilot/releases/download/v1.13.0_hitl/px4_fmu-v5_cyphal.px4
-./scripts/px4/upload.sh px4_fmu-v5_cyphal.px4
-```
-
-**Step 5. Configure autopilot**
-
-You need to run the [scripts/parameters_configurator.py](scripts/parameters_configurator.py). It will automatically will reset your parameters to default, and then configure exactly the parameters your autopilot needs for the HITL simulation. It will automatically restart the autopilot a few times.
-
-```bash
-pip install mavlink_tools
-./scripts/parameters_configurator.py <desired_mode>
-```
-
-If your desired mode is not supported, refer to the corresponded section for the details:
-- [PX4 Autopilot](docs/px4/README.md)
-- [Ardupilot](docs/ardupilot/README.md)
-
-**Step 6. Run the container**
-
-You can run the simulator with the same `./scripts/docker.sh` script.
-
-To get help, type:
+To get the list of all supported modes, just type:
 
 ```bash
 ./scripts/docker.sh --help
 ```
 
-To run Cyphal VTOL, type:
+To run PX4 Cyphal quadcopter, type:
 
 ```bash
-./scripts/docker.sh cv
+./scripts/docker.sh cq  # cq = cyphal_quadrotor
 ```
 
-To run Dronecan VTOL, type:
+To run PX4 Dronecan VTOL, type:
 
 ```bash
-./scripts/docker.sh dv
+./scripts/docker.sh dv  # cq = dronecan_vtol
 ```
 
-Here the commands are similar for both PX4 and ArduPilot.
+Troubleshooting:
+- If your sniffer connection is not found or something else is missing, it will exit in a few seconds.
 
-The scripts will automatically attach SLCAN. If your sniffer connection is not found, it will exit in a few seconds.
+If something doesn't work, please open an issue.
 
-**Step 7. Run QGC**
+**Step 5. Run ground control station**
 
-Run QGroundControl or any other MAVLink based ground station you need to start the flight.
+Here 2 options are suggested.
+1. You can run QGroundControl or MissionPlanner to have manual flight
+2. (soon) You can run a script to run one of the test scenario in automatic mode.
 
-**Step 8. (optional) InnoSimulator**
+**Step 6. (optional) 3D Simulator**
 
-InnoSimulator is a photorealistic simulator.
+> A new 3D simulator will appear here soon.
 
-At that moment we use it for visualization purposes only.
+## 3. Supported modes
 
-To use it you need to download it from [inno-robolab/InnoSimulator](https://github.com/inno-robolab/InnoSimulator) repository.
+You can obrain the actual list of the suported modes by typing `./scripts/docker.sh --help`.
 
-An example of running might be:
+Well, here is the output of the command:
 
 ```bash
-~/software/InnoSimulator-Linux64-2021.1.3/InnoSimulator.x86_64
+Primary well-supported modes (with aliases):
+  cyphal_quadrotor,cq           Cyphal      PX4 v1.14-beta  Quadrotor x (4001)
+  dronecan_quadrotor,dq         DroneCAN    PX4 v1.14-beta  Quadrotor (4001)
+  dronecan_vtol,dv              DroneCAN    PX4 v1.12       inno_vtol
+
+Other modes:
+  cyphal_standard_vtol,csv      Cyphal      PX4 v1.14-beta  Standard VTOL (13000)
+  cyphal_octorotor,co           Cyphal      PX4 v1.14-beta  Octorotor Coaxial (12001)
+  sitl_inno_vtol                MAVLink     PX4 v1.12       inno_vtol
+  sitl_flight_goggles           MAVLink     PX4 v1.12       Quadrotor (4001)
+  cyphal_and_dronecan           2 CAN       AP  v4.4.0      Copter
 ```
 
-Then choose a drone and press the Launch button.
-
+New modes will be extended step by step.
 
 ## 4. Example
 
 Check the video below.
 
 [![Cyphal/DroneCAN HITL VTOL dynamics simulator](https://img.youtube.com/vi/e9MREW6tCmE/0.jpg)](https://youtu.be/e9MREW6tCmE)
 
-## 5. Repos used as references
+## 5. Auxilliary documentation
+
+Docs:
+
+- [Developer docs](docs/dev_docs.md)
+- [PX4 MAVLink SITL manual configuration instructions](docs/px4/mavlink.md)
+
+Outdated manual instructions:
 
-1. [flightgoggles_uav_dynamics (multicopter)](https://github.com/mit-fast/FlightGoggles/blob/master/flightgoggles_uav_dynamics/) - read their [paper](https://arxiv.org/pdf/1905.11377.pdf)
-2. [PX4 mavlink communicator](https://github.com/ThunderFly-aerospace/PX4-FlightGear-Bridge)
-3. [sitl_gazebo](https://github.com/PX4/sitl_gazebo)
-4. [innopolis_vtol_indi](https://github.com/RaccoonlabDev/innopolis_vtol_indi) - dynamics written in Octave
-5. [InnoSimulator](https://github.com/inno-robolab/InnoSimulator) - photorealistic simulator
-6. [inno_sim_interface](https://github.com/RaccoonlabDev/inno_sim_interface) - the bridge between dynamics and photorealistic simulator
+- [PX4 Cyphal manual configuration instructions](docs/px4/cyphal.md)
+- [PX4 DroneCAN manual configuration instructions](docs/px4/dronecan.md)
+- [ArduPilot manual configuration instructions](docs/ardupilot/README.md)