From 5ea3415a41169ffe9874b4644783e9a06bf32144 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Mon, 3 Oct 2022 17:52:29 +0100
Subject: [PATCH] AP_HAL_SITL: allow SITL sketches to run

allow sketchname to be set
---
 libraries/AP_HAL_SITL/SITL_cmdline.cpp | 17 +++++++++++------
 libraries/AP_HAL_SITL/UARTDriver.cpp   |  2 +-
 2 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/libraries/AP_HAL_SITL/SITL_cmdline.cpp b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
index f8e4dbc577..8b80632140 100644
--- a/libraries/AP_HAL_SITL/SITL_cmdline.cpp
+++ b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
@@ -206,6 +206,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
     // default to CMAC
     const char *home_str = nullptr;
     const char *model_str = nullptr;
+    const char *vehicle_str = SKETCH;
     _use_fg_view = true;
     char *autotest_dir = nullptr;
     _fg_address = "127.0.0.1";
@@ -337,6 +338,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
 #if STORAGE_USE_FRAM
         {"set-storage-fram-enabled", true,   0, CMDLINE_SET_STORAGE_FRAM_ENABLED},
 #endif
+        {"vehicle",           true,   0, 'v'},
         {0, false, 0, 0}
     };
 
@@ -361,7 +363,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
 
     bool wiping_storage = false;
 
-    GetOptLong gopt(argc, argv, "hwus:r:CI:P:SO:M:F:c:",
+    GetOptLong gopt(argc, argv, "hwus:r:CI:P:SO:M:F:c:v:",
                     options);
     while (!is_replay && (opt = gopt.getoption()) != -1) {
         switch (opt) {
@@ -420,6 +422,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         case 'F':
             _fg_address = gopt.optarg;
             break;
+        case 'v':
+            vehicle_str = gopt.optarg;
+            break;
         case CMDLINE_GIMBAL:
             enable_gimbal = true;
             break;
@@ -590,20 +595,20 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         hal.set_wipe_storage(wiping_storage);
     }
 
-    fprintf(stdout, "Starting sketch '%s'\n", SKETCH);
+    fprintf(stdout, "Starting sketch '%s'\n", vehicle_str);
 
-    if (strcmp(SKETCH, "ArduCopter") == 0) {
+    if (strcmp(vehicle_str, "ArduCopter") == 0) {
         _vehicle = ArduCopter;
-    } else if (strcmp(SKETCH, "Rover") == 0) {
+    } else if (strcmp(vehicle_str, "Rover") == 0) {
         _vehicle = Rover;
         // set right default throttle for rover (allowing for reverse)
         pwm_input[2] = 1500;
-    } else if (strcmp(SKETCH, "ArduSub") == 0) {
+    } else if (strcmp(vehicle_str, "ArduSub") == 0) {
         _vehicle = ArduSub;
         for(uint8_t i = 0; i < 8; i++) {
             pwm_input[i] = 1500;
         }
-    } else if (strcmp(SKETCH, "Blimp") == 0) {
+    } else if (strcmp(vehicle_str, "Blimp") == 0) {
         _vehicle = Blimp;
         for(uint8_t i = 0; i < 8; i++) {
             pwm_input[i] = 1500;
diff --git a/libraries/AP_HAL_SITL/UARTDriver.cpp b/libraries/AP_HAL_SITL/UARTDriver.cpp
index 02c3631147..38184208ea 100644
--- a/libraries/AP_HAL_SITL/UARTDriver.cpp
+++ b/libraries/AP_HAL_SITL/UARTDriver.cpp
@@ -91,7 +91,7 @@ void UARTDriver::begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
         char *devtype = strtok_r(s, ":", &saveptr);
         char *args1 = strtok_r(nullptr, ":", &saveptr);
         char *args2 = strtok_r(nullptr, ":", &saveptr);
-#if !defined(HAL_BUILD_AP_PERIPH)
+#if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane)
         if (_portNumber == 2 && AP::sitl()->adsb_plane_count >= 0) {
             // this is ordinarily port 5762.  The ADSB simulation assumed
             // this port, so if enabled we assume we'll be doing ADSB...