From 29f352d49d53284b741e19e8b7056a1d1341c507 Mon Sep 17 00:00:00 2001
From: Dusan Zivkovic <dusan@sunflower-labs.com>
Date: Mon, 7 Aug 2023 09:18:51 +0000
Subject: [PATCH] px4-rc.simulator: set Gazebo coordinate frame reference
 (SIM_GZ_HOME_* params) from PX4_HOME_* env variables

---
 ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
index 01216f7910..b0025563df 100644
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
@@ -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