From a8bbbcbff50b038941b8e6d731506b6be322da54 Mon Sep 17 00:00:00 2001
From: korotkoves <korotkov.es@mipt.ru>
Date: Tue, 5 Apr 2016 12:37:57 +0300
Subject: [PATCH] scripts for runnung multiple SITL

---
 Tools/sitl_multiple_run.sh                    | 52 +++++++++++++++
 .../SITL/init/rcS_multiple_gazebo_iris        | 63 +++++++++++++++++++
 2 files changed, 115 insertions(+)
 create mode 100755 Tools/sitl_multiple_run.sh
 create mode 100644 posix-configs/SITL/init/rcS_multiple_gazebo_iris

diff --git a/Tools/sitl_multiple_run.sh b/Tools/sitl_multiple_run.sh
new file mode 100755
index 0000000000..1378931899
--- /dev/null
+++ b/Tools/sitl_multiple_run.sh
@@ -0,0 +1,52 @@
+#!/bin/bash
+
+sitl_num=2
+
+sim_port=15019
+mav_port=15010
+mav_port2=15011
+
+mav_oport=15015
+mav_oport2=15016
+
+port_step=10
+
+src_path=`pwd`
+
+rc_script="posix-configs/SITL/init/rcS_multiple"
+build_path=${src_path}/build_posix_sitl_default
+
+pkill mainapp
+sleep 2
+
+cd $build_path/src/firmware/posix
+
+user=`whoami`
+n=1
+while [ $n -le $sitl_num ]; do
+ if [ ! -d $n ]; then
+  mkdir -p $n
+  cd $n
+
+  mkdir -p rootfs/fs/microsd
+  mkdir -p rootfs/eeprom
+  touch rootfs/eeprom/parameters
+
+  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
+
+ cd $n
+
+ sudo -b -u $user ../mainapp -d rcS >out.log 2>err.log
+
+ cd ../
+
+ n=$(($n + 1))
+ sim_port=$(($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))
+done
diff --git a/posix-configs/SITL/init/rcS_multiple_gazebo_iris b/posix-configs/SITL/init/rcS_multiple_gazebo_iris
new file mode 100644
index 0000000000..74a01bceee
--- /dev/null
+++ b/posix-configs/SITL/init/rcS_multiple_gazebo_iris
@@ -0,0 +1,63 @@
+uorb start
+simulator start -s -u _SIMPORT_
+param load
+param set MAV_TYPE 2
+param set MC_PITCHRATE_P 0.3
+param set MC_ROLLRATE_P 0.3
+param set MC_YAW_P 2.0
+param set MC_YAWRATE_P 0.35
+param set SYS_AUTOSTART 4010
+param set SYS_RESTART_TYPE 2
+dataman start
+param set CAL_GYRO0_ID 2293768
+param set CAL_ACC0_ID 1376264
+param set CAL_ACC1_ID 1310728
+param set CAL_MAG0_ID 196616
+param set CAL_GYRO0_XOFF 0.01
+param set CAL_ACC0_XOFF 0.01
+param set CAL_ACC0_YOFF -0.01
+param set CAL_ACC0_ZOFF 0.01
+param set CAL_ACC0_XSCALE 1.01
+param set CAL_ACC0_YSCALE 1.01
+param set CAL_ACC0_ZSCALE 1.01
+param set CAL_ACC1_XOFF 0.01
+param set CAL_MAG0_XOFF 0.01
+param set MPC_XY_P 0.15
+param set MPC_XY_VEL_P 0.05
+param set MPC_XY_VEL_D 0.005
+param set MPC_XY_FF 0.1
+param set SENS_BOARD_ROT 8
+param set COM_RC_IN_MODE 1
+param set NAV_ACC_RAD 2.0
+param set RTL_RETURN_ALT 30.0
+param set RTL_DESCEND_ALT 10.0
+rgbledsim start
+tone_alarm start
+gyrosim start
+accelsim start
+barosim start
+adcsim start
+gpssim start
+pwm_out_sim mode_pwm
+sleep 1
+sensors start
+commander start
+land_detector start multicopter
+navigator start
+attitude_estimator_q start
+position_estimator_inav start
+mc_pos_control start
+mc_att_control start
+mixer load /dev/pwm_output0 quad_w.main.mix
+mavlink start -u _MAVPORT_ -r 2000000 -o _MAVOPORT_
+mavlink start -u _MAVPORT2_ -r 2000000 -m onboard -o _MAVOPORT2_
+mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u _MAVPORT_
+mavlink stream -r 80 -s LOCAL_POSITION_NED -u _MAVPORT_
+mavlink stream -r 80 -s GLOBAL_POSITION_INT -u _MAVPORT_
+mavlink stream -r 80 -s ATTITUDE -u _MAVPORT_
+mavlink stream -r 80 -s ATTITUDE_TARGET -u _MAVPORT_
+mavlink stream -r 20 -s RC_CHANNELS -u _MAVPORT_
+mavlink stream -r 250 -s HIGHRES_IMU -u _MAVPORT_
+mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u _MAVPORT_
+mavlink boot_complete
+sdlog2 start -r 100 -e -t -a