forked from Archive/PX4-Autopilot
SITL Launcher: gzserver must be running when gzclient connects
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@ -104,6 +104,9 @@ then
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if [[ -n "$HEADLESS" ]]; then
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if [[ -n "$HEADLESS" ]]; then
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echo "not running gazebo gui"
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echo "not running gazebo gui"
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else
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else
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# gzserver needs to be running to avoid a race. Since the launch
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# is putting it into the background we need to avoid it by backing off
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sleep 3
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gzclient --verbose &
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gzclient --verbose &
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GUI_PID=`echo $!`
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GUI_PID=`echo $!`
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fi
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fi
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@ -82,7 +82,7 @@ fw_att_control start
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mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
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mixer load /dev/pwm_output0 ROMFS/sitl/mixers/standard_vtol_sitl.main.mix
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mavlink start -u 14556 -r 2000000
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mavlink start -u 14556 -r 2000000
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mavlink start -u 14557 -r 2000000 -m onboard -o 14540
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mavlink start -u 14557 -r 2000000 -m onboard -o 14540
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mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14540
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mavlink stream -r 20 -s EXTENDED_SYS_STATE -u 14557
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mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
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mavlink stream -r 80 -s POSITION_TARGET_LOCAL_NED -u 14556
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mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
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mavlink stream -r 80 -s LOCAL_POSITION_NED -u 14556
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mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
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mavlink stream -r 80 -s GLOBAL_POSITION_INT -u 14556
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@ -62,7 +62,7 @@
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#define MAX_CMD_LEN 100
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#define MAX_CMD_LEN 100
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#define PX4_MAX_TASKS 100
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#define PX4_MAX_TASKS 50
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#define SHELL_TASK_ID (PX4_MAX_TASKS+1)
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#define SHELL_TASK_ID (PX4_MAX_TASKS+1)
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pthread_t _shell_task_id = 0;
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pthread_t _shell_task_id = 0;
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