WIP: ignition gazebo direclty use transport

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -1,20 +1,31 @@
 #!/bin/sh
 # shellcheck disable=SC2154
 
-simulator_tcp_port=$((4560+px4_instance))
 
-# Check if PX4_SIM_HOSTNAME environment variable is empty
-# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-# If both are empty use localhost for simulator
-if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-  if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-    echo "PX4 SIM HOST: localhost"
-    simulator start -c $simulator_tcp_port
-  else
-    echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-    simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
-  fi
+if ignition_simulator start
+then
+
+  sensor_baro_sim start
+  sensor_gps_sim start
+  sensor_mag_sim start
+
 else
-  echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-  simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+  simulator_tcp_port=$((4560+px4_instance))
+
+  # Check if PX4_SIM_HOSTNAME environment variable is empty
+  # If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+  # If both are empty use localhost for simulator
+  if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+    if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+      echo "PX4 SIM HOST: localhost"
+      simulator start -c $simulator_tcp_port
+    else
+      echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+      simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+    fi
+  else
+    echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+    simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+  fi
+
 fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -1,6 +1,6 @@
 #!/bin/sh
 
-set -e
+#set -e
 
 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
@@ -212,6 +212,7 @@ elif ! replay tryapplyparams
 then
   . px4-rc.simulator
 fi
+
 load_mon start
 battery_simulator start
 tone_alarm start