ardupilot/Tools/autotest/sim_arduplane.sh

67 lines
1.9 KiB
Bash
Executable File

#!/bin/bash
# home location lat, lon, alt, heading
SIMHOME="-35.363261,149.165230,584,353"
# check the instance number to allow for multiple copies of the sim running at once
INSTANCE=0
# parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial
while getopts ":I:" opt; do
case $opt in
I)
INSTANCE=$OPTARG
;;
\?)
# allow other args to pass on to mavproxy
break
;;
:)
echo "Option -$OPTARG requires an argument." >&2
exit 1
esac
done
shift $((OPTIND-1))
# kill existing copy if this is the '0' instance only
[ "$INSTANCE" -eq "0" ] && {
killall -q JSBSim
killall -q ArduPlane.elf
pkill -f runsim.py
}
# setup ports for this instance
MAVLINK_PORT="tcp:127.0.0.1:"$((5760+10*$INSTANCE))
SIMIN_PORT="127.0.0.1:"$((5502+10*$INSTANCE))
SIMOUT_PORT="127.0.0.1:"$((5501+10*$INSTANCE))
FG_PORT="127.0.0.1:"$((5503+10*$INSTANCE))
set -e
set -x
autotest=$(dirname $(readlink -e $0))
pushd $autotest/../../ArduPlane
make clean sitl
tfile=$(mktemp)
echo r > $tfile
#gnome-terminal -e "gdb -x $tfile --args /tmp/ArduPlane.build/ArduPlane.elf"
gnome-terminal -e "/tmp/ArduPlane.build/ArduPlane.elf -I$INSTANCE"
#gnome-terminal -e "valgrind -q /tmp/ArduPlane.build/ArduPlane.elf"
sleep 2
rm -f $tfile
gnome-terminal -e "../Tools/autotest/jsbsim/runsim.py --home=$SIMHOME --simin=$SIMIN_PORT --simout=$SIMOUT_PORT --fgout=$FG_PORT"
sleep 2
popd
# if you wanted to forward packets out a serial link for testing
# andropilot, then add --out /dev/serial/by-id/usb-FTDI* to your
# command line along with a baudrate. You might also like to add --map
# and --console
# for example:
# sim_arduplane.sh --out /dev/serial/by-id/usb-FTDI* --baudrate 57600 --map --console
# mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551
mavproxy.py --master $MAVLINK_PORT --sitl $SIMOUT_PORT --out 127.0.0.1:14550 --out 127.0.0.1:14551 $*