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SITL jmavsim make airframes simulator specific

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-cleanup and simplify jmavsim SITL launch and debug
This commit is contained in:
Daniel Agar
2023-01-07 17:00:35 -05:00
parent 760fff7d89
commit 95a6eba36c
9 changed files with 98 additions and 143 deletions
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ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+17 -3
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@@ -124,6 +124,20 @@ elif [ "$PX4_SIMULATOR" = "gz" ]; then
exit 1
fi
elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
echo "INFO [init] jMAVSim simulator"
if jps | grep -i jmavsim; then
kill $(jps | grep -i jmavsim | awk '{print $1}') || true
sleep 1
fi
param set IMU_INTEG_RATE 250
./jmavsim_run.sh -l -r 250 &
simulator_mavlink start -h localhost $((4560+px4_instance))
else
# otherwise start simulator (mavlink) module
simulator_tcp_port=$((4560+px4_instance))
@@ -134,15 +148,15 @@ else
if [ -z "${PX4_SIM_HOSTNAME}" ]; then
if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
echo "PX4 SIM HOST: localhost"
echo "INFO [init] PX4_SIM_HOSTNAME: localhost"
simulator_mavlink start -c $simulator_tcp_port
else
echo "PX4 SIM HOST: ${PX4_SIM_HOST_ADDR}"
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
fi
else
echo "PX4 SIM HOST: ${PX4_SIM_HOSTNAME}"
echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
fi