From 511ca6d7643494b6fe6a295493ab2185b6731d3a Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 12 Jan 2016 09:20:22 +1100
Subject: [PATCH] autotest: support -P2 option for SITL with MAVLink2

---
 Tools/autotest/sim_vehicle.sh | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/Tools/autotest/sim_vehicle.sh b/Tools/autotest/sim_vehicle.sh
index 390bc6ab27..ae8a5b21e3 100755
--- a/Tools/autotest/sim_vehicle.sh
+++ b/Tools/autotest/sim_vehicle.sh
@@ -29,6 +29,7 @@ BREAKPOINT=""
 OVERRIDE_BUILD_TARGET=""
 DELAY_START=0
 DEFAULTS_PATH=""
+MAVLINK_PROTOCOL_VERSION="1"
 
 usage()
 {
@@ -61,6 +62,7 @@ Options:
     -H               start HIL
     -S SPEEDUP       set simulation speedup (1 for wall clock time)
     -d TIME          delays the start of mavproxy by the number of seconds
+    -P VERSION       mavlink protocol version (1 or 2)
 
 mavproxy_options:
     --map            start with a map
@@ -77,7 +79,7 @@ EOF
 
 
 # parse options. Thanks to http://wiki.bash-hackers.org/howto/getopts_tutorial
-while getopts ":I:VgGcj:TA:t:L:l:v:hwf:RNHeMS:DB:b:d:" opt; do
+while getopts ":I:VgGcj:TA:t:L:l:v:hwf:RNHeMS:DB:b:d:P:" opt; do
   case $opt in
     v)
       VEHICLE=$OPTARG
@@ -150,6 +152,9 @@ while getopts ":I:VgGcj:TA:t:L:l:v:hwf:RNHeMS:DB:b:d:" opt; do
     b)
       OVERRIDE_BUILD_TARGET="$OPTARG"
       ;;
+    P)
+      MAVLINK_PROTOCOL_VERSION="$OPTARG"
+      ;;
     h)
       usage
       exit 0
@@ -348,6 +353,10 @@ if [ $DEBUG_BUILD == 1 ]; then
     BUILD_TARGET="$BUILD_TARGET-debug"
 fi
 
+if [ $MAVLINK_PROTOCOL_VERSION == "2" ]; then
+    BUILD_TARGET="$BUILD_TARGET-mavlink2"
+fi
+
 if [ -n "$OVERRIDE_BUILD_TARGET" ]; then
     BUILD_TARGET="$OVERRIDE_BUILD_TARGET"
 fi
@@ -491,6 +500,10 @@ if [ $DELAY_START != 0 ]; then
   sleep $DELAY_START
 fi
 
+if [ $MAVLINK_PROTOCOL_VERSION == 2 ]; then
+    options="$options --mav20"
+fi
+
 if [ -f /usr/bin/cygstart ]; then
     cygstart -w "/cygdrive/c/Program Files (x86)/MAVProxy/mavproxy.exe" $options --cmd="$extra_cmd" $*
 else