Initial commit — WireClaw SITL fonctionnel

start.sh

@@ -0,0 +1,63 @@
+#!/bin/bash
+
+echo "=== WireClaw Startup ==="
+
+# 1. Nettoyage
+echo "Nettoyage..."
+pkill -f "hermes" 2>/dev/null
+pkill -f "arducopter" 2>/dev/null
+pkill -f "mavproxy" 2>/dev/null
+pkill -f "wireclaw_core" 2>/dev/null
+sleep 2
+sudo fuser -k 14550/udp 14551/udp 14552/udp 2>/dev/null
+sleep 1
+
+# 2. Lancer ArduCopter SITL directement
+echo "Lancement ArduCopter..."
+/home/nicoboy/ardupilot/build/sitl/bin/arducopter \
+    --model + \
+    --speedup 1 \
+    --sim-address=127.0.0.1 \
+    --defaults /home/nicoboy/wireclaw/sitl_params.parm \
+    > /tmp/arducopter.log 2>&1 &
+sleep 3
+
+# 3. Lancer MAVProxy directement
+echo "Lancement MAVProxy..."
+/home/nicoboy/.local/bin/mavproxy.py \
+    --master tcp:127.0.0.1:5760 \
+    --sitl 127.0.0.1:5501 \
+    --out udp:127.0.0.1:14551 \
+    --out udp:127.0.0.1:14552 \
+    --daemon \
+    > /tmp/arducopter.log 2>&1 &
+sleep 2
+
+# 4. Attendre GPS fix
+echo "Attente GPS fix..."
+timeout=120
+while [ $timeout -gt 0 ]; do
+    if grep -q "IMU0 is using GPS" /tmp/arducopter.log 2>/dev/null; then
+        echo ""
+        echo "✅ SITL prêt !"
+        break
+    fi
+    sleep 2
+    timeout=$((timeout-2))
+    echo -n "."
+done
+
+if [ $timeout -le 0 ]; then
+    echo ""
+    echo "❌ Timeout — logs :"
+    tail -10 /tmp/arducopter.log
+    tail -10 /tmp/arducopter.log
+    exit 1
+fi
+
+sleep 2
+
+# 5. Lancer WireClaw
+echo "Lancement WireClaw..."
+cd ~/wireclaw
+python3 wireclaw_core.py