From 59c84c637e693ecc6ba0e4a3c934492f8b6bd7de Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir@retdtechfrance.com>
Date: Wed, 21 Sep 2016 19:02:15 +0200
Subject: [PATCH] SITL: make fg view optional

---
 libraries/AP_HAL_SITL/SITL_State.cpp   | 7 +++++--
 libraries/AP_HAL_SITL/SITL_State.h     | 1 +
 libraries/AP_HAL_SITL/SITL_cmdline.cpp | 6 +++++-
 3 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index d2359f7aeb..03ba66933d 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -97,7 +97,10 @@ void SITL_State::_sitl_setup(const char *home_str)
             gimbal = new SITL::Gimbal(_sitl->state);
         }
 
-        fg_socket.connect("127.0.0.1", 5503);
+        if (_use_fg_view) {
+            fg_socket.connect("127.0.0.1", 5503);
+        }
+
     }
 
     if (_synthetic_clock_mode) {
@@ -295,7 +298,7 @@ void SITL_State::_fdm_input_local(void)
         adsb->update();
     }
 
-    if (_sitl) {
+    if (_sitl && _use_fg_view) {
         _output_to_flightgear();
     }
 
diff --git a/libraries/AP_HAL_SITL/SITL_State.h b/libraries/AP_HAL_SITL/SITL_State.h
index 1689d87418..a35274a9fd 100644
--- a/libraries/AP_HAL_SITL/SITL_State.h
+++ b/libraries/AP_HAL_SITL/SITL_State.h
@@ -169,6 +169,7 @@ private:
     bool _synthetic_clock_mode;
 
     bool _use_rtscts;
+    bool _use_fg_view;
     
     const char *_fdm_address;
 
diff --git a/libraries/AP_HAL_SITL/SITL_cmdline.cpp b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
index 21d21bbb1f..6ba6a79b29 100644
--- a/libraries/AP_HAL_SITL/SITL_cmdline.cpp
+++ b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
@@ -132,6 +132,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
     _simin_port = 5501;
     _fdm_address = "127.0.0.1";
     _client_address = nullptr;
+    _use_fg_view = false;
     _instance = 0;
 
     enum long_options {
@@ -145,6 +146,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         CMDLINE_UARTE,
         CMDLINE_UARTF,
         CMDLINE_RTSCTS,
+        CMDLINE_FGVIEW,
         CMDLINE_DEFAULTS
     };
 
@@ -170,6 +172,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         {"autotest-dir",    true,   0, CMDLINE_AUTOTESTDIR},
         {"defaults",        true,   0, CMDLINE_DEFAULTS},
         {"rtscts",          false,  0, CMDLINE_RTSCTS},
+        {"fgview",          false,  0, CMDLINE_FGVIEW},
         {0, false, 0, 0}
     };
 
@@ -240,7 +243,8 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         case CMDLINE_UARTF:
             _uart_path[opt - CMDLINE_UARTA] = gopt.optarg;
             break;
-            
+        case CMDLINE_FGVIEW:
+            _use_fg_view = true;
         default:
             _usage();
             exit(1);