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HAL_SITL: added -F option for FDM address

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This commit is contained in:
Andrew Tridgell 2015-05-04 08:10:33 +10:00
parent 630cd14252
commit 24fc1d8ebf
2 changed files with 9 additions and 2 deletions
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9
libraries/AP_HAL_AVR_SITL/SITL_State.cpp
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@ -71,6 +71,7 @@ void SITL_State::_usage(void)
fprintf(stdout, "\t-s SPEEDUP simulation speedup\n");
fprintf(stdout, "\t-O ORIGIN set home location (lat,lng,alt,yaw)\n");
fprintf(stdout, "\t-M MODEL set simulation model\n");
fprintf(stdout, "\t-F FDMADDR set FDM UDP address (IPv4)\n");
}
static const struct {
@ -106,8 +107,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
_base_port = 5760;
_rcout_port = 5502;
_simin_port = 5501;
_fdm_address = "127.0.0.1";
while ((opt = getopt(argc, argv, "s:whr:H:CI:P:SO:M:S:")) != -1) {
while ((opt = getopt(argc, argv, "s:whr:H:CI:P:SO:M:S:F:")) != -1) {
switch (opt) {
case 'w':
AP_Param::erase_all();
@ -143,6 +145,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
break;
case 's':
speedup = atof(optarg);
break;
case 'F':
_fdm_address = optarg;
break;
default:
_usage();
@ -228,7 +233,7 @@ void SITL_State::_sitl_setup(void)
#endif
_rcout_addr.sin_family = AF_INET;
_rcout_addr.sin_port = htons(_rcout_port);
inet_pton(AF_INET, "127.0.0.1", &_rcout_addr.sin_addr);
inet_pton(AF_INET, _fdm_address, &_rcout_addr.sin_addr);
#ifndef HIL_MODE
_setup_fdm();

2
libraries/AP_HAL_AVR_SITL/SITL_State.h
View File

@ -143,6 +143,8 @@ private:
bool _synthetic_clock_mode;
const char *_fdm_address;
// delay buffer variables
static const uint8_t mag_buffer_length = 250;
static const uint8_t wind_buffer_length = 50;