# Px4 Airsim Integration > PX4 AirSim联合开发 - AirSim仿真器配置、SITL/HITL集成、多无人机仿真、视觉/激光雷达仿真 - Skill: `miuav/px4-airsim-integration` (Agent Skill) - Install (CLI): `npx skillmds@latest add miuav/px4-airsim-integration` - Raw SKILL.md: https://api.skillmd.com/api/skills/miuav/px4-airsim-integration/raw - Safety review: pending - Works with: Claude Code, Claude.ai, OpenAI Codex - Category: Integrations & APIs - Author: miuav (https://skillmd.com/u/miuav) - Updated: 2026-09-17 - Page: https://skillmd.com/skills/miuav/px4-airsim-integration --- # PX4 AirSim 联合开发技能 > 用于配置 PX4 与 AirSim 仿真器的联合仿真开发 --- ## 何时使用 当需要以下帮助时使用此技能： - 配置 PX4 + AirSim 联合仿真 - AirSim 多旋翼模型配置 - 视觉/激光雷达传感器仿真 - 多无人机协同仿真 - 硬件在环 (HITL) 仿真 --- ## 快速参考 ### PX4 + AirSim 架构 ``` AirSim <--MAVLink--> PX4 SITL/HITL <--> ROS2 ↓ QGC 地面站 ``` ### 快速启动命令 ```bash # 1. 启动 PX4 SITL make px4_sitl_default # 2. 启动 AirSim cd AirSim && ./run.sh # 3. 等待连接后启动 QGC ./QGroundControl.AppImage ``` --- ## AirSim 安装与配置 ### 安装依赖 ```bash # Ubuntu 20.04/22.04 sudo apt update sudo apt install -y cmake git clang-10 llvm-10 libzmq3-dev # 安装 AirSim cd ~ git clone https://github.com/microsoft/AirSim.git cd AirSim ./setup.sh ./build.sh ``` ### AirSim 配置文件 ```json { "seeDocsAt": "https://microsoft.github.io/AirSim/docs/settings/", "SettingsVersion": 1.2, "LogMessagesVisible": true, "SimMode": "Multirotor", "ClockSpeed": 1, "Vehicles": { "PX4": { "VehicleType": "PX4Multirotor", "UseSerial": false, "LockStep": true, "Parameters": { "NAV_RCL_ACT": 0, "NAV_DLL_ACT": 0, "LND_FLIGHT_TIME": 9999999, "CBRK_AIRSBREW_CHECK": 0 } } } } ``` ### settings.json 路径 ```bash # Windows: ~/Documents/AirSim/settings.json # Linux: ~/AirSim/settings.json ``` --- ## PX4 AirSim 集成 ### PX4 SITL 配置 ```bash # 编译 PX4 (使用 AirSim 模块) make px4_sitl_default # 设置环境变量 export PX4_SIM_HOST=127.0.0.1 export PX4_SIM_PORT=14560 # 启动仿真 cd /path/to/PX4-Autopilot make px4_sitl_default ``` ### MAVLink 通信配置 ```bash # 启动 MAVLink router mavlink-routerd -e 127.0.0.1:14550 127.0.0.1:14540 # 或使用 socat 转发 socat - UDP4:127.0.0.1:14560,reuseaddr ``` ### AirSim PX4 连接 ```bash # 在 AirSim 设置中启用 MAVLink # settings.json { "PX4": { "ControlMode": "Mavlink", "LocalHostIp": "127.0.0.1", "UdpPort": 14560, "TcpPort": 14580 } } ``` --- ## 传感器仿真 ### 相机配置 ```json { "Cameras": { "front_center": { "CameraType": 0, "CaptureSettings": [ { "Width": 1920, "Height": 1080, "FOV_Degrees": 90, "AutoExposureSpeed": 100 } ], "X": 0.25, "Y": 0.0, "Z": 0.0, "Pitch": 0.0, "Roll": 0.0, "Yaw": 0.0 } } } ``` ### 激光雷达配置 ```json { "Lidar": { "Lasers": { "max_view_angle": 360, "number_of_channels": 16, "range": 100.0, "points_per_second": 600000 }, "X": 0.0, "Y": 0.0, "Z": 0.0, "Roll": 0.0, "Pitch": 0.0, "Yaw": 0.0 } } ``` --- ## 多无人机仿真 ### 多机配置 ```json { "Vehicles": { "Drone1": { "VehicleType": "PX4Multirotor", "X": 0, "Y": 0, "Z": 0 }, "Drone2": { "VehicleType": "PX4Multirotor", "X": 5, "Y": 0, "Z": 0 }, "Drone3": { "VehicleType": "PX4Multirotor", "X": 10, "Y": 0, "Z": 0 } } } ``` ### 多机 MAVLink 路由 ```python # 多机通信配置 import pymavlink.mavutil as mavutil # 连接各无人机 drone1 = mavutil.mavlink_connection('udpin:127.0.0.1:14540') drone2 = mavutil.mavlink_connection('udpin:127.0.0.1:14541') drone3 = mavutil.mavlink_connection('udpin:127.0.0.1:14542') # 设置系统 ID drone1.mav.system_send(1, 1) # sys_id=1 drone2.mav.system_send(1, 2) # sys_id=2 drone3.mav.system_send(1, 3) # sys_id=3 ``` --- ## AirSim API 开发 ### Python API 控制 ```python import airsim import msgpack import numpy as np # 连接 AirSim client = airsim.MultirotorClient() client.confirmConnection() # 获取状态 state = client.getMultirotorState() print(f"Position: {state.kinematics_estimated.position}") print(f"Velocity: {state.kinematics_estimated.linear_velocity}") # 解锁并起飞 client.enableApiControl(True) client.armDisarm(True) client.takeoff() # 飞行到目标位置 client.moveToPositionAsync(10, 0, -10, 5).join() # 获取相机图像 responses = client.simGetImages([ airsim.ImageRequest("front_center", airsim.ImageType.Scene), airsim.ImageRequest("front_center", airsim.ImageType.DepthPlanner) ]) ``` ### ROS2 集成 ```bash # 启动 AirSim-ROS2 桥接 ros2 launch airsim_ros2 airsim_ros2_node.launch.py # 或手动桥接 ros2 run ros2_bridge airsim_ros_node ``` ```python # AirSim ROS2 节点 import rclpy from rclpy.node import Node from airsim_ros2_msgs.msg import GPSYaw, ImageCapture class AirSimBridge(Node): def __init__(self): super().__init__('airsim_bridge') self.gps_pub = self.create_publisher(GPSYaw, '/gps', 10) self.img_sub = self.create_subscription(ImageCapture, '/camera', self.img_callback) ``` --- ## 视觉导航开发 ### 深度感知 ```python # 获取深度图像 depth_response = client.simGetImages([ airsim.ImageRequest("front_center", airsim.ImageType.DepthPlanner) ]) depth = np.frombuffer(depth_response[0].image_data_uint8, dtype=np.float32) depth = depth.reshape((depth_response[0].height, depth_response[0].width)) ``` ### 目标检测与跟踪 ```python # YOLO 集成 from ultralytics import YOLO model = YOLO('yolov8n.onnx') def detect_and_track(): # 获取图像 img_response = client.simGetImages([ airsim.ImageRequest("front_center", airsim.ImageType.Scene) ]) img = np.frombuffer(img_response[0].image_data_uint8, dtype=np.uint8) img = img.reshape((img_response[0].height, img_response[0].width, 3)) # 检测 results = model(img) # 跟踪最近目标 targets = [r for r in results if r.class_id == 0] # person class if targets: return targets[0].center # 返回像素坐标 ``` --- ## HITL 硬件在环 ### HITL 配置 ```bash # 设置 HITL 模式 export PX4_SIMULATOR=AirSim export PX4_SIM_HOST=192.168.1.100 # AirSim 主机 IP # 启动 HITL make px4_sitl_default px4 HITL=1 ``` ### 飞控连接 ``` 硬件连接: [AirSim PC] <--以太网--> [飞控] <--> [QGC] USB ``` --- ## 常见问题排查 ### AirSim 无法启动 ```bash # 检查虚幻引擎 ./Engine/Binaries/Linux/UE4Editor --version # 重新编译 cd AirSim ./build.sh -Linux # 检查依赖 ldd ./run.sh ``` ### PX4 无法连接 AirSim ```bash # 检查 UDP 端口 sudo netstat -u -anp | grep 14560 # 确认防火墙 sudo ufw status sudo ufw allow 14560/udp # 测试 MAVLink mavlink-cli -d /dev/ttyACM0 -b 921600 ``` ### 传感器数据异常 ```bash # 检查 AirSim 设置 cat ~/AirSim/settings.json # 重启 AirSim pkill -f AirSim ./run.sh ``` --- ## 相关文档 - `./multi_rotor_uav/perception/px4-vision-nav/SKILL.md` - PX4 视觉导航 - `./multi_rotor_uav/localization/px4-multicopter-dev/SKILL.md` - PX4 多旋翼开发 - `./multi_rotor_uav/action/px4-dev-env/SKILL.md` - 开发环境配置