Fully automated SITL betaflight

gym_pybullet_drones/envs/BetaAviary.py

@@ -2,6 +2,9 @@
 from gymnasium import spaces
 import socket
 import struct 
+import os
+import subprocess
+import time
 
 from transforms3d.quaternions import rotate_vector, qconjugate
 
@@ -79,6 +82,13 @@ def __init__(self,
                          output_folder=output_folder
                          )
 
+        # Spawn SITL Betaflight instances (must have been created with assets/clone_bfs/sh first)
+        for i in range(num_drones):
+            FOLDER = os.path.dirname(os.path.abspath(__file__))+'/../../betaflight_sitl/bf'+str(i)+'/'
+            cmd = f"gnome-terminal -- bash -c 'cd {FOLDER} && ./obj/main/betaflight_SITL.elf; exec bash'"
+            subprocess.Popen(cmd, shell=True)
+        time.sleep(2)
+
         # Initialize connection to BetaFlight Controller 
         self.UDP_IP = udp_ip
         self.ARM_TIME = 1

gym_pybullet_drones/examples/beta.py

@@ -6,10 +6,10 @@
 executables for as many drones as needed (e.g. 2):
     $ ./gym_pybullet_drones/assets/clone_bfs.sh 2
 
-Example
+Note
 -------
-Run as many SITL Betaflight as drones in the simulation 
-in separate terminals (navigate the each `bf0`, `bf1`, etc. folder first):
+This example will automatically start as many SITL Betaflight as drones
+in the simulation in separate terminals:
 
     $ cd betaflights/bf0/
     $ ./obj/main/betaflight_SITL.elf
@@ -19,7 +19,7 @@
 
     $ ..
 
-In a separate  terminal, run:
+Run as:
 
     $ cd gym-pybullet-drones/gym_pybullet_drones/examples/
     $ python beta.py