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SITL: allow for changing FlightAxis controller IP

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This commit is contained in:
Andrew Tridgell 2016-04-29 09:03:48 +10:00
parent 6f4d66f346
commit 68e17af070
2 changed files with 9 additions and 5 deletions
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11
libraries/SITL/SIM_FlightAxis.cpp
View File

@ -31,9 +31,6 @@
extern const AP_HAL::HAL& hal;
#define FLIGHTAXIS_SERVER_IP "192.168.2.48"
#define FLIGHTAXIS_SERVER_PORT 18083
namespace SITL {
// the asprintf() calls are not worth checking for SITL
@ -46,6 +43,10 @@ FlightAxis::FlightAxis(const char *home_str, const char *frame_str) :
rate_hz = 250 / target_speedup;
heli_demix = strstr(frame_str, "helidemix") != NULL;
rev4_servos = strstr(frame_str, "rev4") != NULL;
const char *colon = strchr(frame_str, ':');
if (colon) {
controller_ip = colon+1;
}
}
/*
@ -87,7 +88,7 @@ char *FlightAxis::soap_request(const char *action, const char *fmt, ...)
// open SOAP socket to FlightAxis
SocketAPM sock(false);
if (!sock.connect(FLIGHTAXIS_SERVER_IP, FLIGHTAXIS_SERVER_PORT)) {
if (!sock.connect(controller_ip, controller_port)) {
free(req1);
return nullptr;
}
@ -151,7 +152,7 @@ Connection: Keep-Alive
void FlightAxis::exchange_data(const struct sitl_input &input)
{
if (!controller_started) {
printf("Starting controller\n");
printf("Starting controller at %s\n", controller_ip);
// call a restore first. This allows us to connect after the aircraft is changed in RealFlight
char *reply = soap_request("RestoreOriginalControllerDevice", R"(<?xml version='1.0' encoding='UTF-8'?>
<soap:Envelope xmlns:soap='http://schemas.xmlsoap.org/soap/envelope/' xmlns:xsd='http://www.w3.org/2001/XMLSchema' xmlns:xsi='http://www.w3.org/2001/XMLSchema-instance'>

3
libraries/SITL/SIM_FlightAxis.h
View File

@ -155,6 +155,9 @@ private:
uint64_t activation_frame_counter = 0;
double last_frame_count_s = 0;
Vector3f position_offset;
const char *controller_ip = "127.0.0.1";
uint16_t controller_port = 18083;
};