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AP_HAL_SITL: add --sysid option to set SYSID_THISMAV

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This commit is contained in:
Pierre Kancir 2018-09-04 19:06:25 +02:00 committed by Andrew Tridgell
parent 9eef30294f
commit 466a430c4f
1 changed files with 14 additions and 0 deletions
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14
libraries/AP_HAL_SITL/SITL_cmdline.cpp
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@ -97,6 +97,7 @@ void SITL_State::_usage(void)
"\t--sim-port-out PORT set port num for simulator out\n"
"\t--irlock-port PORT set port num for irlock\n"
"\t--start-time TIMESTR set simulation start time in UNIX timestamp"
"\t--sysid ID set SYSID_THISMAV\n"
);
}
@ -228,6 +229,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
CMDLINE_SIM_PORT_OUT,
CMDLINE_IRLOCK_PORT,
CMDLINE_START_TIME,
CMDLINE_SYSID,
};
const struct GetOptLong::option options[] = {
@ -264,6 +266,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
{"sim-port-out", true, 0, CMDLINE_SIM_PORT_OUT},
{"irlock-port", true, 0, CMDLINE_IRLOCK_PORT},
{"start-time", true, 0, CMDLINE_START_TIME},
{"sysid", true, 0, CMDLINE_SYSID},
{0, false, 0, 0}
};
@ -385,6 +388,17 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
case CMDLINE_START_TIME:
start_time_UTC = atoi(gopt.optarg);
break;
case CMDLINE_SYSID: {
const int32_t sysid = atoi(gopt.optarg);
if (sysid < 1 || sysid > 255) {
fprintf(stderr, "You must specify a SYSID greater than 0 and less than 256\n");
exit(1);
}
char sysid_string[18];
snprintf(sysid_string, sizeof(sysid_string), "SYSID_THISMAV=%s", gopt.optarg);
_set_param_default(sysid_string);
break;
}
default:
_usage();
exit(1);