CAMS

h1. Running CAMS in hybrid simulation mode

The hybrid simulation mode makes use of real UAVs in a virtual cloud environment.

h2. Ivy bus configuration

Paparazzi is probably running in another computer operated by ENAC staff. You need to set the IVY_BUS environment variable to the network broadcast IP address in order to send and receive IVY messages. Example:

<pre><code class="shell">

export IVY_BUS="192.168.1.255:2010"  # Replace with the appropriate URL

</code></pre>

Tip: You can test your configuration with the ivyprobe command to examine the ivy bus. CAMS messages go into the datalink category.

<pre><code class="shell">

ivyprobe -b 192.168.2.255 '(datalink .*)'  # Subscribe to datalink

ivyprobe -b 192.168.2.255 '(.*)'  # Probe all

</code></pre>

h2. Virtual probe settings

For the best results with the adaptive flight patterns check the RCT variable range. The interval [0.00001, 0.001] has been proved to give good results during the Lannemezan 2021-03 campaign. Note that the range is translated to a 0 to 255 value using a logarithmic scale. Example:

<pre><code class="yaml">

aircrafts:

   11:

        replay: false

        type: 'pprz'

        plugins:

            - MesonhProbe:

                mesonhFiles: *mesonh_files

                mesonhVariables: ['PABST', 'RCT', 'RVT', 'THT', 'TKET', 'WT', ['UT','VT']]

                rctFeedback: True

                defaultRctBounds: [0.00001, 0.001]

</code></pre>