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https://github.com/ArduPilot/ardupilot
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HAL_SITL: cleanup command line handling
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parent
068b862888
commit
2a47cc3c81
libraries/AP_HAL_SITL
@ -84,8 +84,8 @@ void SITL_State::_sitl_setup(void)
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if (_sitl != NULL) {
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// setup some initial values
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#ifndef HIL_MODE
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_update_barometer(_initial_height);
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_update_ins(0, 0, 0, 0, 0, 0, 0, 0, -9.8, 0, _initial_height);
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_update_barometer(100);
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_update_ins(0, 0, 0, 0, 0, 0, 0, 0, -9.8, 0, 100);
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_update_compass(0, 0, 0);
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_update_gps(0, 0, 0, 0, 0, 0, false);
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#endif
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@ -128,7 +128,6 @@ private:
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uint16_t _framerate;
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uint8_t _instance;
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uint16_t _base_port;
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float _initial_height;
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struct sockaddr_in _rcout_addr;
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pid_t _parent_pid;
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uint32_t _update_count;
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@ -32,16 +32,15 @@ static void _sig_fpe(int signum)
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void SITL_State::_usage(void)
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{
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fprintf(stdout, "Options:\n");
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fprintf(stdout, "\t-w wipe eeprom and dataflash\n");
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fprintf(stdout, "\t-r RATE set SITL framerate\n");
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fprintf(stdout, "\t-H HEIGHT initial barometric height\n");
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fprintf(stdout, "\t-C use console instead of TCP ports\n");
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fprintf(stdout, "\t-I set instance of SITL (adds 10*instance to all port numbers)\n");
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fprintf(stdout, "\t-s SPEEDUP simulation speedup\n");
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fprintf(stdout, "\t-O ORIGIN set home location (lat,lng,alt,yaw)\n");
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fprintf(stdout, "\t-M MODEL set simulation model\n");
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fprintf(stdout, "\t-F FDMADDR set FDM UDP address (IPv4)\n");
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printf("Options:\n"
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"\t--home HOME set home location (lat,lng,alt,yaw)\n"
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"\t--model MODEL set simulation model\n"
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"\t--wipe wipe eeprom and dataflash\n"
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"\t--rate RATE set SITL framerate\n"
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"\t--console use console instead of TCP ports\n"
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"\t--instance N set instance of SITL (adds 10*instance to all port numbers)\n"
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"\t--speedup SPEEDUP set simulation speedup\n"
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);
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}
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static const struct {
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@ -49,6 +48,8 @@ static const struct {
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Aircraft *(*constructor)(const char *home_str, const char *frame_str);
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} model_constructors[] = {
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{ "+", MultiCopter::create },
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{ "quad", MultiCopter::create },
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{ "copter", MultiCopter::create },
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{ "x", MultiCopter::create },
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{ "hexa", MultiCopter::create },
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{ "octa", MultiCopter::create },
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@ -89,19 +90,17 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
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{"wipe", false, 0, 'w'},
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{"speedup", true, 0, 's'},
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{"rate", true, 0, 'r'},
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{"height", true, 0, 'H'},
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{"console", false, 0, 'C'},
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{"instance", true, 0, 'I'},
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{"param", true, 0, 'P'},
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{"synthetic-clock", false, 0, 'S'},
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{"home", true, 0, 'O'},
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{"model", true, 0, 'M'},
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{"frame", true, 0, 'F'},
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{"client", true, 0, CMDLINE_CLIENT},
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{0, false, 0, 0}
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};
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GetOptLong gopt(argc, argv, "hws:r:H:CI:P:SO:M:F:",
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GetOptLong gopt(argc, argv, "hws:r:CI:P:SO:M:F:",
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options);
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while ((opt = gopt.getoption()) != -1) {
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@ -113,9 +112,6 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
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case 'r':
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_framerate = (unsigned)atoi(gopt.optarg);
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break;
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case 'H':
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_initial_height = atof(gopt.optarg);
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break;
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case 'C':
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HALSITL::SITLUARTDriver::_console = true;
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break;
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