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px4-rc.simulator: set Gazebo coordinate frame reference (SIM_GZ_HOME_* params) from PX4_HOME_* env variables

This commit is contained in:
Dusan Zivkovic 2023-08-07 09:18:51 +00:00 committed by Daniel Agar
parent cd77d52dc1
commit 29f352d49d
1 changed files with 13 additions and 0 deletions
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13
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
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@ -38,6 +38,19 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then
# set local coordinate frame reference
if [ -n "${PX4_HOME_LAT}" ]; then
param set SIM_GZ_HOME_LAT ${PX4_HOME_LAT}
fi
if [ -n "${PX4_HOME_LON}" ]; then
param set SIM_GZ_HOME_LON ${PX4_HOME_LON}
fi
if [ -n "${PX4_HOME_ALT}" ]; then
param set SIM_GZ_HOME_ALT ${PX4_HOME_LON}
fi
# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
if [ -f ./gz_env.sh ]; then
. ./gz_env.sh