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SITL: Add instance to ADSB simulation

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This commit is contained in:
Stephen Dade 2021-10-20 12:13:07 +11:00 committed by Peter Barker
parent 85dbb70df5
commit 016edd28fc
2 changed files with 6 additions and 4 deletions
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4
libraries/SITL/SIM_ADSB.cpp
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@ -117,8 +117,8 @@ void ADSB::send_report(void)
// threading issue with non-blocking sockets and the initial wait on uartA // threading issue with non-blocking sockets and the initial wait on uartA
return; return;
} }
if (!mavlink.connected && mav_socket.connect(target_address, target_port)) { if (!mavlink.connected && mav_socket.connect(target_address, target_port_base + 10 * instance)) {
::printf("ADSB connected to %s:%u\n", target_address, (unsigned)target_port); ::printf("ADSB connected to %s:%u\n", target_address, (unsigned)target_port_base + 10 * instance);
mavlink.connected = true; mavlink.connected = true;
} }
if (!mavlink.connected) { if (!mavlink.connected) {

6
libraries/SITL/SIM_ADSB.h
View File

@ -51,12 +51,14 @@ private:
class ADSB { class ADSB {
public: public:
ADSB(const struct sitl_fdm &_fdm, const Location& _home) : home(_home) {}; ADSB(const struct sitl_fdm &_fdm, const Location& _home, const uint8_t _instance) : home(_home), instance(_instance) {};
void update(void); void update(void);
private: private:
const char *target_address = "127.0.0.1"; const char *target_address = "127.0.0.1";
const uint16_t target_port = 5762; const uint16_t target_port_base = 5762;
const uint8_t instance = 0;
const Location& home; const Location& home;
uint8_t num_vehicles = 0; uint8_t num_vehicles = 0;