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SITL: Instance number change MavID

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This commit is contained in:
Pierre Kancir 2018-04-23 17:59:32 +02:00 committed by Peter Barker
parent b46379b3f3
commit 507f4d688b
1 changed files with 10 additions and 2 deletions
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12
libraries/AP_HAL_SITL/SITL_cmdline.cpp
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@ -49,7 +49,7 @@ void SITL_State::_usage(void)
"\t--speedup|-s SPEEDUP set simulation speedup\n"
"\t--rate|-r RATE set SITL framerate\n"
"\t--console|-C use console instead of TCP ports\n"
"\t--instance|-I N set instance of SITL (adds 10*instance to all port numbers)\n"
"\t--instance|-I N set instance of SITL (adds 10*instance to all port numbers and change SYSID_MYGCS), limited to 255.\n"
// "\t--param|-P NAME=VALUE set some param\n" CURRENTLY BROKEN!
"\t--synthetic-clock|-S set synthetic clock mode\n"
"\t--home|-O HOME set home location (lat,lng,alt,yaw)\n"
@ -244,7 +244,8 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
HALSITL::UARTDriver::_console = true;
break;
case 'I': {
_instance = atoi(gopt.optarg);
const int instance = atoi(gopt.optarg);
_instance = static_cast<uint8_t>(instance);
if (_base_port == BASE_PORT) {
_base_port += _instance * 10;
}
@ -266,6 +267,13 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
if (_irlock_port == IRLOCK_PORT) {
_irlock_port += _instance * 10;
}
if (instance < 1 || instance > 255) {
fprintf(stderr, "You must specify an instance-id greater than 0 and less than 256\n");
exit(1);
}
char sysid[18];
snprintf(sysid, sizeof(sysid), "SYSID_THISMAV=%s", gopt.optarg);
_set_param_default(sysid);
}
break;
case 'P':