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simulator udp port from command line

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This commit is contained in:
korotkoves
2016-04-04 23:06:09 +03:00
committed by Lorenz Meier
parent adfe946f72
commit 22e3ce7d7a
3 changed files with 16 additions and 9 deletions
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src/modules/simulator/simulator_mavlink.cpp
+6 -4
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@@ -462,7 +462,7 @@ void Simulator::initializeSensorData()
write_airspeed_data(&airspeed);
}
void Simulator::pollForMAVLinkMessages(bool publish)
void Simulator::pollForMAVLinkMessages(bool publish, int udp_port)
{
// set the threads name
#ifdef __PX4_DARWIN
@@ -473,13 +473,15 @@ void Simulator::pollForMAVLinkMessages(bool publish)
// udp socket data
struct sockaddr_in _myaddr;
const int _port = UDP_PORT;
if (udp_port < 1)
udp_port = UDP_PORT;
// try to setup udp socket for communcation with simulator
memset((char *)&_myaddr, 0, sizeof(_myaddr));
_myaddr.sin_family = AF_INET;
_myaddr.sin_addr.s_addr = htonl(INADDR_ANY);
_myaddr.sin_port = htons(_port);
_myaddr.sin_port = htons(udp_port);
if ((_fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) {
PX4_WARN("create socket failed\n");
@@ -532,7 +534,7 @@ void Simulator::pollForMAVLinkMessages(bool publish)
// wait for first data from simulator and respond with first controls
// this is important for the UDP communication to work
int pret = -1;
PX4_INFO("Waiting for initial data on UDP. Please start the flight simulator to proceed..");
PX4_INFO("Waiting for initial data on UDP port %i. Please start the flight simulator to proceed..",udp_port);
uint64_t pstart_time = 0;