scripts for runnung multiple SITL

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