droneProgrammingCourse/launchSitl at master · dronedojo/droneProgrammingCourse · GitHub

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#!/bin/bash

kill -9 $(ps -eF | grep QG | awk -F ' ' '{print $2}') > /dev/null 2>&1
kill -9 $(ps -eF | grep ardu | awk -F ' ' '{print $2}') > /dev/null 2>&1
kill -9 $(ps -eF | grep mav | awk -F ' ' '{print $2}') > /dev/null 2>&1
kill -9 $(ps -eF | grep apm | awk -F ' ' '{print $2}') > /dev/null 2>&1

##Launch a SITL instance
/usr/local/bin/dronekit-sitl copter --home=44.5013,-88.0622,0,180&

sleep 5

##Launch QGroundControl
/usr/local/bin/QGC.AppImage 2>/dev/null&

sleep 5

##Start MAVProxy
screen -dm mavproxy.py --master=tcp:127.0.0.1:5760 --out=127.0.0.1:14550 --out=127.0.0.1:5762

##Launch the dronekit-python script
/usr/bin/python "$1" --connect 127.0.0.1:5762

function finish {
	kill -9 $(ps -eF | grep QG | awk -F ' ' '{print $2}') > /dev/null 2>&1
	kill -9 $(ps -eF | grep ardu | awk -F ' ' '{print $2}') > /dev/null 2>&1
	kill -9 $(ps -eF | grep mav | awk -F ' ' '{print $2}') > /dev/null 2>&1
	kill -9 $(ps -eF | grep apm | awk -F ' ' '{print $2}') > /dev/null 2>&1
}

trap finish EXIT