ap_sitl

ap_sitl is a small Rust bridge for ArduPilot's JSON SITL backend. It binds to the JSON SITL UDP port, receives PWM servo packets from ArduPilot, and sends JSON aircraft state messages back to the simulator endpoint.

Install

[dependencies]
ap_sitl = "0.1"

Example

use anyhow::Result;
use ap_sitl::{Msg, Pwm16, Sitl};

fn main() -> Result<()> {
    let mut ap = Sitl::<Pwm16>::connect("127.0.0.1")?;

    let msg = Msg::new(
        0.0,
        [0.0, 0.0, 0.0],
        [0.0, 0.0, -9.81],
        [0.0, 0.0, 0.0],
        [0.0, 0.0, 0.0],
        [1.0, 0.0, 0.0, 0.0],
    );

    ap.send(msg)?;

    if let Some(servos) = ap.receive_servos()? {
        println!("first servo: {}", servos[0]);
    }

    Ok(())
}

See examples/example.rs for a continuous update loop.

License

Licensed under the MIT license. See LICENSE.