Drone Client not working for multiple drones in Matlab

[Siddharth2511]

I want to move two drones, but it seems that only the second drone (the later for which client is defined) responds to any API calls.

Here's my Matlab code:

% Define client for Evader and Pursuer drones
evader_name = "Drone1"; % Evader
pursuer_name = "Drone2"; % Pursuer

% Create instances of AirSimClient for both drone
evaderClient = AirSimClient(IsDrone=true, ApiControl=true, IP="127.0.0.1", port=41451, VehicleName=evader_name);
pursuerClient = AirSimClient(IsDrone=true, ApiControl=true, IP="127.0.0.1", port=41451, VehicleName=pursuer_name);

% Take off both drones
evaderClient.drone_client.takeoffAsync().join();
pursuerClient.drone_client.takeoffAsync().join();

% Set initial positions (example coordinates)
evaderClient.drone_client.moveToPositionAsync(10, 10, -10, 5).join(); % Evader moves to (0, 0, -10)
pursuerClient.drone_client.moveToPositionAsync(10, 14, -10, 5).join(); % Pursuer starts at (5, 5, -10)

% Land both drones after chase is complete
evaderClient.drone_client.landAsync().join();
pursuerClient.drone_client.landAsync().join();

This is settings.json:

{
"SeeDocsAt": "https://github.com/Microsoft/AirSim/blob/main/docs/settings.md",
"SettingsVersion": 2,
"SimMode": "Multirotor",
"Port": 41451,

"Vehicles": {
"Drone1": {
"VehicleType": "SimpleFlight",
"AllowAPIAlways": true,
"X": 0,
"Y": 0,
"Z": -5,
"Yaw": 0
},
"Drone2": {
"VehicleType": "SimpleFlight",
"AllowAPIAlways": true,
"X": 0,
"Y": 4,
"Z": -5,
"Yaw": 0
}
}
}

Only Drone2 responds to any API calls, Drone1 does not even takes off or enters hover mode.

[WouterJansen]

I will look into this for a future release. Thank you.

[WouterJansen]

I got it to work now (see commit) with some slightly updated and fixed matlab code as well. I will look into implementing some form of .join() as well for matlab and make a new release client for matlab once that is implemented and let you know.

evader_name = "Drone1"; % Evader
pursuer_name = "Drone2"; % Pursuer

airSimClient = AirSimClient(IsDrone=true, IP="127.0.0.1", port=41451);

airSimClient.setEnableApiControl("Drone1");
airSimClient.setEnableApiControl("Drone2");

airSimClient.takeoffAsync("Drone1");
airSimClient.takeoffAsync("Drone2");

airSimClient.moveToPositionAsync(10, 10, -10, 5, 3e+38, AirSimDrivetrainTypes.MaxDegreeOfFreedom, true, 0, -1, 1, "Drone1"); % Evader moves to (0, 0, -10)
airSimClient.moveToPositionAsync(10, 14, -10, 5, 3e+38, AirSimDrivetrainTypes.MaxDegreeOfFreedom, true, 0, -1, 1, "Drone2"); % Pursuer starts at (5, 5, -10)

airSimClient.landAsync("Drone1", 360);
airSimClient.landAsync("Drone2", 360);

[Siddharth2511]

I ran the code after importing changes (changed my unreal environment Plugins). I also uninstalled and reinstalled cosys-airsim matlab addon.
Upon running the aforementioned code, I get the follwoing error message:

Error using AirSimClient/setEnableApiControl
Too many input arguments.

Error in two_drone_api (line 6)
airSimClient.setEnableApiControl("Drone1");

[WouterJansen]

That is expected as you would need to use the matlab toolbox from source to see the changes reflected, I had not updated the toolbox itself at that time, just the code.

I have now pushed a new toolbox build 3.1.0 to file exchange.

This includes the previous mentioned fixes as well as the option to do something similar as .join() in Python by setting the join of the async functions to true to wait for function completion.

This new build also updates the example code and adds a new example for two drones:

airSimClient = AirSimClient(IsDrone=true, IP="127.0.0.1", port=41451);

airSimClient.setEnableApiControl("Drone1");
airSimClient.setEnableApiControl("Drone2");

airSimClient.setEnableDroneArm("Drone1");
airSimClient.setEnableDroneArm("Drone2");

airSimClient.takeoffAsync("Drone1", 20, true);
airSimClient.takeoffAsync("Drone2", 20, false);

airSimClient.moveToPositionAsync(10, 10, -5, 5, 3e+38, AirSimDrivetrainTypes.MaxDegreeOfFreedom, true, 0, -1, 1, "Drone1", true);
airSimClient.moveToPositionAsync(10, 14, -5, 5, 3e+38, AirSimDrivetrainTypes.MaxDegreeOfFreedom, true, 0, -1, 1, "Drone2", true); 

airSimClient.landAsync("Drone1", 60, true);
airSimClient.landAsync("Drone2", 60, false);

airSimClient.setDisableDroneArm("Drone1");
airSimClient.setDisableDroneArm("Drone2");

airSimClient.setDisableApiControl("Drone1");
airSimClient.setDisableApiControl("Drone2");

This works best with a setting file like this:

{
    "SeeDocsAt": "https://cosys-lab.github.io/settings/",
    "SettingsVersion": 2,
    "ClockSpeed": 1,
    "LocalHostIp": "127.0.0.1",
    "ApiServerPort": 41451,
    "RpcEnabled": true,
    "SimMode": "Multirotor",
    "Vehicles": {
        "Drone1": {
            "VehicleType": "SimpleFlight",
            "AllowAPIAlways": true,
            "X": 0,
            "Y": 0,
            "Z": 0,
            "Yaw": 0
        },
        "Drone2": {
            "VehicleType": "SimpleFlight",
            "AllowAPIAlways": true,
            "X": 5,
            "Y": 0,
            "Z": 0,
            "Yaw": 0
        }
    }
}