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[rc.simulator] fix PX4_HOME_ALT and cleanup 

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>
This commit is contained in:
Beniamino Pozzan 2023-12-18 22:08:30 +01:00 committed by GitHub
parent 36eb319834
commit 613564fffa
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 32 additions and 41 deletions
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73
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
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@ -37,6 +37,9 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
fi
elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
# Use Gazebo
echo "INFO [init] Gazebo simulator"
# set local coordinate frame reference
if [ -n "${PX4_HOME_LAT}" ]; then
@ -48,7 +51,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
fi
if [ -n "${PX4_HOME_ALT}" ]; then
param set SIM_GZ_HOME_ALT ${PX4_HOME_LON}
param set SIM_GZ_HOME_ALT ${PX4_HOME_ALT}
fi
# Only start up Gazebo if PX4_GZ_STANDALONE is not set.
@ -90,6 +93,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
fi
else
# Gazebo is already running, do not start the simulator, nor the GUI
echo "INFO [init] gazebo already running world: ${gz_world}"
PX4_GZ_WORLD=${gz_world}
fi
@ -102,62 +106,31 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
# model specified, gz_bridge will spawn model
if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
# model pose provided: [x, y, z, roll, pitch, yaw]
# Clean potential input line formatting.
model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/ / /g; s/ /,/g' )"
echo "INFO [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
else
# model pose not provided, origin will be used
echo "WARN [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
model_pose="0,0,0,0,0,0"
fi
# start gz bridge with pose arg.
if gz_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
if param compare -s SENS_EN_BAROSIM 1
then
sensor_baro_sim start
fi
if param compare -s SENS_EN_GPSSIM 1
then
sensor_gps_sim start
fi
if param compare -s SENS_EN_MAGSIM 1
then
sensor_mag_sim start
fi
if param compare -s SENS_EN_ARSPDSIM 1
then
sensor_airspeed_sim start
fi
else
echo "ERROR [init] gz_bridge failed to start"
if ! gz_bridge start -p "${model_pose}" -m "${PX4_SIM_MODEL#*gz_}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
echo "ERROR [init] gz_bridge failed to start and spawn model"
exit 1
fi
elif [ -n "${PX4_GZ_MODEL_NAME}" ]; then
# model name specificed, gz_bridge will attach to existing model
if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
if param compare -s SENS_EN_BAROSIM 1
then
sensor_baro_sim start
fi
if param compare -s SENS_EN_GPSSIM 1
then
sensor_gps_sim start
fi
if param compare -s SENS_EN_MAGSIM 1
then
sensor_mag_sim start
fi
if param compare -s SENS_EN_ARSPDSIM 1
then
sensor_airspeed_sim start
fi
else
echo "ERROR [init] gz_bridge failed to start"
echo "INFO [init] PX4_GZ_MODEL_NAME set, PX4 will attach to existing model"
if ! gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
echo "ERROR [init] gz_bridge failed to start and attach to existing model"
exit 1
fi
@ -166,6 +139,24 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" = "1" ]; then
exit 1
fi
# Start the sensor simulator modules
if param compare -s SENS_EN_BAROSIM 1
then
sensor_baro_sim start
fi
if param compare -s SENS_EN_GPSSIM 1
then
sensor_gps_sim start
fi
if param compare -s SENS_EN_MAGSIM 1
then
sensor_mag_sim start
fi
if param compare -s SENS_EN_ARSPDSIM 1
then
sensor_airspeed_sim start
fi
elif [ "$PX4_SIM_MODEL" = "jmavsim_iris" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "10017" ]; then
echo "INFO [init] jMAVSim simulator"