SITL: Allows last_letter to start at the location specified by the SITL arguments

2015-06-13 20:28:03 +03:00 · 2015-06-13 20:28:03 +03:00 · b375a8debf
commit b375a8debf
parent 8426553609
1 changed files with 8 additions and 2 deletions
--- a/libraries/SITL/SIM_last_letter.cpp
+++ b/libraries/SITL/SIM_last_letter.cpp
@ -60,11 +60,17 @@ void last_letter::start_last_letter(void)
            close(i);
        }

-        int ret = execlp("roslaunch", 
-                         "roslaunch", 
+        char argHome[50];
+        sprintf(argHome,"home:=[%f,%f,%f]",home.lat*1.0e-7,home.lng*1.0e-7,(double)home.alt*1.0e-2);
+
+        int ret = execlp("roslaunch",
+                         "roslaunch",
                         "last_letter",
                         "launcher.launch",
                         "ArduPlane:=true",
+                         "simRate:=500",
+                         "deltaT:=0.002",
+                         argHome,
                         NULL);
        if (ret != 0) {
            perror("roslaunch");