fix sitl_multiple_run.sh: adapt to path updates

Tools/sitl_multiple_run.sh

@@ -1,4 +1,6 @@
 #!/bin/bash
+# run multiple instances of the 'px4' binary, but w/o starting the simulator.
+# It assumes px4 is already built, with 'make posix_sitl_default'
 
 sitl_num=2
 
@@ -11,42 +13,42 @@ mav_oport2=15016
 
 port_step=10
 
-src_path=`pwd`
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+src_path="$SCRIPT_DIR/.."
 
-rc_script="posix-configs/SITL/init/rcS_multiple"
+rc_script="posix-configs/SITL/init/ekf2/multiple_iris"
 build_path=${src_path}/build_posix_sitl_default
 
+echo "killing running instances"
 pkill px4
-sleep 2
+sleep 1
 
-cd $build_path/src/firmware/posix
+cd $build_path
 
 user=`whoami`
 n=1
 while [ $n -le $sitl_num ]; do
- if [ ! -d $n ]; then
-  mkdir -p $n
-  cd $n
+	working_dir="instance_$n"
+	if [ ! -d $working_dir ]; then
+		mkdir -p "$working_dir"
+		pushd "$working_dir" &>/dev/null
 
-  mkdir -p rootfs/fs/microsd
-  mkdir -p rootfs/eeprom
-  touch rootfs/eeprom/parameters
+		# replace template config with configured ports of current instance
+		cat ${src_path}/${rc_script} | sed s/_SIMPORT_/${sim_port}/ | \
+			sed s/_MAVPORT_/${mav_port}/g | sed s/_MAVOPORT_/${mav_oport}/ | \
+			sed s/_MAVPORT2_/${mav_port2}/ | sed s/_MAVOPORT2_/${mav_oport2}/ > rcS
+		popd &>/dev/null
+	fi
 
-  cp ${src_path}/ROMFS/px4fmu_common/mixers/quad_w.main.mix ./
-  cat ${src_path}/${rc_script}_gazebo_iris | sed s/_SIMPORT_/${sim_port}/ | sed s/_MAVPORT_/${mav_port}/g | sed s/_MAVOPORT_/${mav_oport}/ | sed s/_MAVPORT2_/${mav_port2}/ | sed s/_MAVOPORT2_/${mav_oport2}/ > rcS
-  cd ../
- fi
+	pushd "$working_dir" &>/dev/null
+	echo "starting instance $n in $(pwd)"
+	sudo -b -u $user ../src/firmware/posix/px4 -d "$src_path" rcS >out.log 2>err.log
+	popd &>/dev/null
 
- cd $n
-
- sudo -b -u $user ../px4 -d rcS >out.log 2>err.log
-
- cd ../
-
- n=$(($n + 1))
- sim_port=$(($sim_port + $port_step))
- mav_port=$(($mav_port + $port_step))
- mav_port2=$(($mav_port2 + $port_step))
- mav_oport=$(($mav_oport + $port_step))
- mav_oport2=$(($mav_oport2 + $port_step))
+	n=$(($n + 1))
+	sim_port=$(($sim_port + $port_step))
+	mav_port=$(($mav_port + $port_step))
+	mav_port2=$(($mav_port2 + $port_step))
+	mav_oport=$(($mav_oport + $port_step))
+	mav_oport2=$(($mav_oport2 + $port_step))
 done