mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-03 15:38:52 +08:00
Jacob Dahl
9e8b530ad9
* sim: refactor px4-rc.simulator into sim specific startup scripts. Fix gz sim for standalone mode. * shellcheck disable=SC2154
28 lines
846 B
Bash
28 lines
846 B
Bash
#!/bin/sh
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# shellcheck disable=SC2154
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# EKF2 specifics
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param set-default EKF2_GPS_DELAY 10
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param set-default EKF2_MULTI_IMU 3
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param set-default SENS_IMU_MODE 0
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simulator_tcp_port=$((4560+px4_instance))
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# Check if PX4_SIM_HOSTNAME environment variable is empty
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# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
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# If both are empty use localhost for simulator
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if [ -z "${PX4_SIM_HOSTNAME}" ]; then
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if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
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echo "INFO [init] PX4_SIM_HOSTNAME: localhost"
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simulator_mavlink start -c $simulator_tcp_port
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else
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echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
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simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
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fi
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else
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echo "INFO [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
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simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
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fi
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