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autotest: support last_letter in sim_vehicle.sh

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This commit is contained in:
Andrew Tridgell 2015-05-22 15:53:54 +10:00
parent 9336914598
commit d734e700fc
1 changed files with 17 additions and 18 deletions
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35
Tools/autotest/sim_vehicle.sh
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@ -14,6 +14,7 @@ INSTANCE=0
USE_VALGRIND=0 USE_VALGRIND=0
USE_GDB=0 USE_GDB=0
USE_GDB_STOPPED=0 USE_GDB_STOPPED=0
DEBUG_BUILD=0
USE_MAVLINK_GIMBAL=0 USE_MAVLINK_GIMBAL=0
CLEAN_BUILD=0 CLEAN_BUILD=0
START_ANTENNA_TRACKER=0 START_ANTENNA_TRACKER=0
@ -44,6 +45,7 @@ Options:
-N don't rebuild before starting ardupilot -N don't rebuild before starting ardupilot
-w wipe EEPROM and reload parameters -w wipe EEPROM and reload parameters
-R reverse throttle in plane -R reverse throttle in plane
-D build with debugging
-f FRAME set aircraft frame type -f FRAME set aircraft frame type
for copters can choose +, X, quad or octa for copters can choose +, X, quad or octa
for planes can choose elevon or vtail for planes can choose elevon or vtail
@ -67,7 +69,7 @@ EOF
# parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial # parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial
while getopts ":I:VgGcj:TA:t:L:l:v:hwf:RNHeMS:" opt; do while getopts ":I:VgGcj:TA:t:L:l:v:hwf:RNHeMS:D" opt; do
case $opt in case $opt in
v) v)
VEHICLE=$OPTARG VEHICLE=$OPTARG
@ -97,6 +99,9 @@ while getopts ":I:VgGcj:TA:t:L:l:v:hwf:RNHeMS:" opt; do
G) G)
USE_GDB=1 USE_GDB=1
;; ;;
D)
DEBUG_BUILD=1
;;
M) M)
USE_MAVLINK_GIMBAL=1 USE_MAVLINK_GIMBAL=1
;; ;;
@ -180,6 +185,10 @@ set -x
FRAME="rover" FRAME="rover"
} }
[ -z "$FRAME" -a "$VEHICLE" = "ArduPlane" ] && {
FRAME="jsbsim"
}
EXTRA_PARM="" EXTRA_PARM=""
EXTRA_SIM="" EXTRA_SIM=""
@ -218,18 +227,10 @@ case $FRAME in
BUILD_TARGET="sitl-heli" BUILD_TARGET="sitl-heli"
EXTRA_SIM="$EXTRA_SIM --frame=CRRCSim-heli" EXTRA_SIM="$EXTRA_SIM --frame=CRRCSim-heli"
;; ;;
CRRCSim) CRRCSim|last_letter*|jsbsim*)
BUILD_TARGET="sitl" BUILD_TARGET="sitl"
EXTRA_SIM="$EXTRA_SIM --frame=CRRCSim" EXTRA_SIM="$EXTRA_SIM --frame=CRRCSim"
;; ;;
elevon*)
EXTRA_PARM="param set ELEVON_OUTPUT 4;"
EXTRA_SIM="$EXTRA_SIM --elevon"
;;
vtail)
EXTRA_PARM="param set VTAIL_OUTPUT 4;"
EXTRA_SIM="$EXTRA_SIM --vtail"
;;
rover|rover-skid) rover|rover-skid)
EXTRA_SIM="$EXTRA_SIM --frame=$FRAME" EXTRA_SIM="$EXTRA_SIM --frame=$FRAME"
;; ;;
@ -245,6 +246,10 @@ case $FRAME in
;; ;;
esac esac
if [ $DEBUG_BUILD == 1 ]; then
BUILD_TARGET="$BUILD_TARGET-debug"
fi
if [ $USE_MAVLINK_GIMBAL == 1 ]; then if [ $USE_MAVLINK_GIMBAL == 1 ]; then
echo "Using MAVLink gimbal" echo "Using MAVLink gimbal"
EXTRA_SIM="$EXTRA_SIM --gimbal" EXTRA_SIM="$EXTRA_SIM --gimbal"
@ -337,14 +342,8 @@ EOF
exit 1 exit 1
fi fi
PARMS="ArduPlane.parm" PARMS="ArduPlane.parm"
if [ "$FRAME" = "CRRCSim" ]; then RUNSIM=""
RUNSIM="nice $autotest/pysim/sim_wrapper.py --frame=CRRCSim --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM" cmd="$cmd --model $FRAME --speedup=$SPEEDUP"
elif [ $EXTERNAL_SIM == 0 ]; then
RUNSIM=""
cmd="$cmd --model jsbsim --speedup=$SPEEDUP"
else
echo "Using external plane simulator"
fi
;; ;;
ArduCopter) ArduCopter)
RUNSIM="nice $autotest/pysim/sim_wrapper.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM" RUNSIM="nice $autotest/pysim/sim_wrapper.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT $EXTRA_SIM"