From 86c8145bd941c9127dc46781530a835b5226ec17 Mon Sep 17 00:00:00 2001 From: Pierre Kancir Date: Tue, 15 Nov 2016 15:44:51 +0100 Subject: [PATCH] SITL: Change Flighgear port with instance number --- libraries/AP_HAL_SITL/SITL_State.cpp | 2 +- libraries/AP_HAL_SITL/SITL_State.h | 1 + libraries/AP_HAL_SITL/SITL_cmdline.cpp | 2 ++ 3 files changed, 4 insertions(+), 1 deletion(-) diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp index b921b6b9f2..67e07df524 100644 --- a/libraries/AP_HAL_SITL/SITL_State.cpp +++ b/libraries/AP_HAL_SITL/SITL_State.cpp @@ -98,7 +98,7 @@ void SITL_State::_sitl_setup(const char *home_str) } if (_use_fg_view) { - fg_socket.connect("127.0.0.1", 5503); + fg_socket.connect("127.0.0.1", _fg_view_port); } } diff --git a/libraries/AP_HAL_SITL/SITL_State.h b/libraries/AP_HAL_SITL/SITL_State.h index 24fa6f157e..5f6ca3afa0 100644 --- a/libraries/AP_HAL_SITL/SITL_State.h +++ b/libraries/AP_HAL_SITL/SITL_State.h @@ -164,6 +164,7 @@ private: SITL::SITL *_sitl; uint16_t _rcout_port; uint16_t _rcin_port; + uint16_t _fg_view_port; float _current; bool _synthetic_clock_mode; diff --git a/libraries/AP_HAL_SITL/SITL_cmdline.cpp b/libraries/AP_HAL_SITL/SITL_cmdline.cpp index 158d7cf9eb..72ec369351 100644 --- a/libraries/AP_HAL_SITL/SITL_cmdline.cpp +++ b/libraries/AP_HAL_SITL/SITL_cmdline.cpp @@ -130,6 +130,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[]) _base_port = 5760; _rcout_port = 5502; _rcin_port = 5501; + _fg_view_port = 5503; _fdm_address = "127.0.0.1"; _client_address = nullptr; _use_fg_view = true; @@ -199,6 +200,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[]) _base_port += _instance * 10; _rcout_port += _instance * 10; _rcin_port += _instance * 10; + _fg_view_port += _instance * 10; } break; case 'P':