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autotest: automatically use sensible defaults for each vehicle type 

this make first time use of SITL simpler
This commit is contained in:
Andrew Tridgell 2016-01-07 09:10:20 +11:00
parent 415d800957
commit 0d26e3a445
1 changed files with 26 additions and 10 deletions
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36
Tools/autotest/sim_vehicle.sh
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@ -27,6 +27,7 @@ MODEL=""
BREAKPOINT=""
OVERRIDE_BUILD_TARGET=""
DELAY_START=0
DEFAULTS_PATH=""
usage()
{
@ -232,42 +233,55 @@ EOF
}
autotest="../Tools/autotest"
[ -d "$autotest" ] || {
# we are not running from one of the standard vehicle directories. Use
# the location of the sim_vehicle.sh script to find the path
autotest=$(dirname $(readlink -e $0))
}
# modify build target based on copter frame type
case $FRAME in
+|quad)
BUILD_TARGET="sitl"
MODEL="+"
DEFAULTS_PATH="$autotest/copter_params.parm"
;;
X)
BUILD_TARGET="sitl"
EXTRA_PARM="param set FRAME 1;"
MODEL="X"
DEFAULTS_PATH="$autotest/copter_params.parm"
;;
octa*)
BUILD_TARGET="sitl-octa"
MODEL="$FRAME"
DEFAULTS_PATH="$autotest/copter_params.parm"
;;
heli*)
BUILD_TARGET="sitl-heli"
MODEL="$FRAME"
DEFAULTS_PATH="$autotest/Helicopter.parm"
;;
heli-dual)
BUILD_TARGET="sitl-heli-dual"
BUILD_TARGET="sitl-heli-dual"
EXTRA_SIM="$EXTRA_SIM --frame=heli-dual"
MODEL="heli-dual"
;;
;;
heli-compound)
BUILD_TARGET="sitl-heli-compound"
BUILD_TARGET="sitl-heli-compound"
EXTRA_SIM="$EXTRA_SIM --frame=heli-compound"
MODEL="heli-compound"
;;
;;
IrisRos)
BUILD_TARGET="sitl"
DEFAULTS_PATH="$autotest/copter_params.parm"
;;
Gazebo)
BUILD_TARGET="sitl"
EXTRA_SIM="$EXTRA_SIM --frame=Gazebo"
MODEL="$FRAME"
DEFAULTS_PATH="$autotest/copter_params.parm"
;;
CRRCSim|last_letter*)
BUILD_TARGET="sitl"
@ -277,14 +291,17 @@ case $FRAME in
BUILD_TARGET="sitl"
MODEL="$FRAME"
check_jsbsim_version
DEFAULTS_PATH="$autotest/ArduPlane.parm"
;;
quadplane*)
BUILD_TARGET="sitl"
MODEL="$FRAME"
DEFAULTS_PATH="$autotest/quadplane.parm"
;;
*-heli)
BUILD_TARGET="sitl-heli"
MODEL="$FRAME"
DEFAULTS_PATH="$autotest/Helicopter.parm"
;;
*)
MODEL="$FRAME"
@ -299,12 +316,6 @@ if [ -n "$OVERRIDE_BUILD_TARGET" ]; then
BUILD_TARGET="$OVERRIDE_BUILD_TARGET"
fi
autotest="../Tools/autotest"
[ -d "$autotest" ] || {
# we are not running from one of the standard vehicle directories. Use
# the location of the sim_vehicle.sh script to find the path
autotest=$(dirname $(readlink -e $0))
}
VEHICLEDIR="$autotest/../../$VEHICLE"
[ -d "$VEHICLEDIR" ] || {
VEHICLEDIR=$(dirname $(readlink -e $VEHICLEDIR))
@ -400,6 +411,11 @@ if [ $USE_MAVLINK_GIMBAL == 1 ]; then
cmd="$cmd --gimbal"
fi
if [ -n "$DEFAULTS_PATH" ]; then
echo "Using defaults from $DEFAULTS_PATH"
cmd="$cmd --defaults $DEFAULTS_PATH"
fi
if [ $START_HIL == 0 ]; then
if [ $USE_VALGRIND == 1 ]; then
echo "Using valgrind"