forked from Archive/PX4-Autopilot
FlightGear simulator support (#14539)
- Add flightgear_bridge submodule. - Add traget px4_sitl_nolockstep with disabled LOCKSTEP simulation. - Add flightgear viewer targets and startup scripts - Add a few possible vehicles plane (rascal), autogyro (tf-g1), and rover (tf-r1)) Co-authored-by: Vit Hanousek <vithanousek@seznam.cz>
This commit is contained in:
parent
5ffe88672e
commit
dfa5ca1710
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@ -45,3 +45,6 @@
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[submodule "platforms/qurt/dspal"]
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path = platforms/qurt/dspal
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url = https://github.com/ATLFlight/dspal.git
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[submodule "Tools/flightgear_bridge"]
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path = Tools/flightgear_bridge
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url = https://github.com/ThunderFly-aerospace/PX4-FlightGear-Bridge.git
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@ -0,0 +1,58 @@
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#!/bin/sh
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#
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# @name Plane SITL
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#
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sh /etc/init.d/rc.fw_defaults
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if [ $AUTOCNF = yes ]
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then
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param set EKF2_ARSP_THR 8
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param set EKF2_FUSE_BETA 1
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#param set EKF2_MAG_ACCLIM 0
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#param set EKF2_MAG_YAWLIM 0
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param set FW_LND_AIRSPD_SC 1.1
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param set FW_LND_ANG 5
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param set FW_THR_LND_MAX 0
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param set FW_LND_HHDIST 30
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param set FW_LND_FL_PMIN 9.5
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param set FW_LND_FL_PMAX 20
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param set FW_LND_FLALT 5
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param set FW_LND_TLALT 15
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param set FW_L1_PERIOD 25
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param set FW_P_TC 0.4
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param set FW_PR_FF 0.40
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param set FW_PR_I 0.05
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param set FW_PR_P 0.05
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param set FW_R_TC 0.45
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param set FW_RR_FF 0.40
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param set FW_RR_I 0.132
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param set FW_RR_P 0.085
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param set FW_W_EN 1
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param set MIS_LTRMIN_ALT 30
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param set MIS_TAKEOFF_ALT 20
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param set MIS_DIST_1WP 2500
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param set MIS_DIST_WPS 10000
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param set NAV_ACC_RAD 15
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param set NAV_DLL_ACT 2
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param set NAV_LOITER_RAD 50
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param set RWTO_TKOFF 1
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#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
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param set RWTO_MAX_PITCH 20
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param set RWTO_MAX_ROLL 10
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#param set RWTO_MAX_THR 0.6 # fix takeoff failure for JSBsim in autonomous mission mode.
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param set RWTO_PSP 8
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param set RWTO_AIRSPD_SCL 1.8
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fi
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set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
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set MIXER custom
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@ -0,0 +1,58 @@
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#!/bin/sh
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#
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# @name Plane SITL
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#
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sh /etc/init.d/rc.fw_defaults
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if [ $AUTOCNF = yes ]
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then
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param set EKF2_ARSP_THR 8
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param set EKF2_FUSE_BETA 1
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#param set EKF2_MAG_ACCLIM 0
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#param set EKF2_MAG_YAWLIM 0
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param set FW_LND_AIRSPD_SC 1.1
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param set FW_LND_ANG 5
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param set FW_THR_LND_MAX 0
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param set FW_LND_HHDIST 30
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param set FW_LND_FL_PMIN 9.5
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param set FW_LND_FL_PMAX 20
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param set FW_LND_FLALT 5
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param set FW_LND_TLALT 15
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param set FW_L1_PERIOD 25
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param set FW_P_TC 0.4
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param set FW_PR_FF 0.40
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param set FW_PR_I 0.05
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param set FW_PR_P 0.05
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param set FW_R_TC 0.45
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param set FW_RR_FF 0.40
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param set FW_RR_I 0.132
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param set FW_RR_P 0.085
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param set FW_W_EN 1
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param set MIS_LTRMIN_ALT 30
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param set MIS_TAKEOFF_ALT 20
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param set MIS_DIST_1WP 2500
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param set MIS_DIST_WPS 10000
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param set NAV_ACC_RAD 15
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param set NAV_DLL_ACT 2
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param set NAV_LOITER_RAD 50
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param set RWTO_TKOFF 1
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#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
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param set RWTO_MAX_PITCH 20
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param set RWTO_MAX_ROLL 10
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#param set RWTO_MAX_THR 0.6 # fix takeoff failure for JSBsim in autonomous mission mode.
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param set RWTO_PSP 8
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param set RWTO_AIRSPD_SCL 1.8
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fi
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set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
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set MIXER custom
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@ -0,0 +1,43 @@
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#!/bin/sh
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#
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# @name ThunderFly TF-R1 UAV Rover
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# @type Rover
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# @class Rover
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#
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# @url https://github.com/ThunderFly-aerospace/TF-R1/
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# @maintainer ThunderFly s.r.o.
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#
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sh /etc/init.d/rc.rover_defaults
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if [ $AUTOCNF = yes ]
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then
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param set GND_L1_DIST 5
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param set GND_SP_CTRL_MODE 1
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param set GND_SPEED_D 3
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param set GND_SPEED_I 0.001
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param set GND_SPEED_IMAX 0.125
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param set GND_SPEED_P 0.25
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param set GND_SPEED_THR_SC 1
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param set GND_SPEED_TRIM 15
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param set GND_SPEED_MAX 25
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param set GND_THR_CRUISE 0.3
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param set GND_THR_IDLE 0
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param set GND_THR_MAX 0.5
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param set GND_THR_MIN 0
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param set MIS_LTRMIN_ALT 0.01
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param set MIS_TAKEOFF_ALT 0.01
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param set NAV_ACC_RAD 0.5
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param set NAV_LOITER_RAD 2
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param set CBRK_AIRSPD_CHK 162128
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param set GND_MAX_ANG 0.6
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param set GND_WHEEL_BASE 3.0
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fi
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set MAV_TYPE 10
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set MIXER_FILE etc/mixers-sitl/rover_sitl.main.mix
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#!/bin/sh
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#
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# @name ThunderFly TF-G1
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# ThunderFly TF-G1 autogyro airframe. Only for FlightGear simulator
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#
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# @type Autogyro
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# @class Autogyro
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#
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# @url https://github.com/ThunderFly-aerospace/TF-G1/
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#
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#
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sh /etc/init.d/rc.fw_defaults
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if [ $AUTOCNF = yes ]
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then
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param set EKF2_ARSP_THR 8
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param set EKF2_FUSE_BETA 1
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param set ASPD_STALL 10.0
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param set FW_P_RMAX_NEG 20.0
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param set FW_P_RMAX_POS 60.0
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param set FW_W_RMAX 10
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param set FW_W_EN 1
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param set FW_PR_IMAX 0.4
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param set FW_R_TC 0.4
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param set FW_RR_FF 0.5
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param set FW_RR_I 0.1
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param set FW_RR_IMAX 0.2
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param set FW_RR_P 0.08
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param set MIS_LTRMIN_ALT 50
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param set MIS_TAKEOFF_ALT 3
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param set NAV_ACC_RAD 20
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param set NAV_DLL_ACT 2
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param set NAV_LOITER_RAD 100
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param set RWTO_TKOFF 1
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param set MAV_BROADCAST 1
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param set FW_ARSP_SCALE_EN 0
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param set FW_AIRSPD_MAX 35
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param set FW_AIRSPD_MIN 7
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param set FW_AIRSPD_TRIM 15
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param set FW_P_LIM_MAX 25
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param set FW_P_LIM_MIN -5
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param set FW_R_LIM 30
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param set FW_MAN_P_MAX 30.0
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param set FW_MAN_R_MAX 30.0
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param set FW_THR_CRUISE 0.8
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param set FW_THR_IDLE 0
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param set COM_DISARM_PRFLT 0
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fi
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set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
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set MIXER custom
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Mixer for SITL autogyro.
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=========================================================
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# 0 mixer for the rudder (Rotor roll)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 2 10000 10000 0 -10000 10000
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# 1 mixer for the pusher/puller throttle
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 3 0 20000 -10000 -10000 10000
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# 2 mixer for the aileron
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 0 -10000 -10000 0 -10000 10000
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# 3 mixer for the elevator (Rotor pitch)
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 0 1 10000 10000 0 -10000 10000
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# 4 mixer for the prerotator AUX1
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 1 5 10000 10000 0 -10000 10000
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# 5 mixer for the manual elevator AUX2
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 1 6 10000 10000 0 -10000 10000
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# 6 mixer for the release device AUX3
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M: 1
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O: 10000 10000 0 -10000 10000
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S: 1 7 10000 10000 0 -10000 10000
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@ -0,0 +1 @@
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Subproject commit f7eb676108c41edea5b9424f29a74a517a1dfd48
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@ -9,7 +9,7 @@ fi
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if [[ -n "$DONT_RUN" ]]; then
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echo "Not running simulation (DONT_RUN is set)."
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exit 0
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exit 0
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fi
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sitl_bin="$1"
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echo "You need to have gazebo simulator installed!"
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exit 1
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fi
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elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
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echo "FG setup"
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cd "${src_path}/Tools/flightgear_bridge/"
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"${src_path}/Tools/flightgear_bridge/FG_run.py" "models/"${model}".json" 0
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"${build_path}/build_flightgear_bridge/flightgear_bridge" 0 `./get_FGbridge_params.py "models/"${model}".json"` &
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FG_BRIDGE_PID=`echo $!`
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fi
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pushd "$rootfs" >/dev/null
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if [[ ! -n "$HEADLESS" ]]; then
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kill -9 $GUI_PID
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fi
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elif [ "$program" == "flightgear" ]; then
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kill $FG_BRIDGE_PID
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kill -9 `cat /tmp/px4fgfspid_0`
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fi
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@ -0,0 +1,91 @@
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px4_add_board(
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PLATFORM posix
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VENDOR px4
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MODEL sitl
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LABEL nolockstep
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TESTING
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DRIVERS
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#barometer # all available barometer drivers
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#batt_smbus
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camera_capture
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camera_trigger
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#differential_pressure # all available differential pressure drivers
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#distance_sensor # all available distance sensor drivers
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gps
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#imu # all available imu drivers
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#magnetometer # all available magnetometer drivers
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pwm_out_sim
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#telemetry # all available telemetry drivers
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tone_alarm
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#uavcan
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MODULES
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airspeed_selector
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attitude_estimator_q
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camera_feedback
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commander
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dataman
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ekf2
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events
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fw_att_control
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fw_pos_control_l1
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land_detector
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landing_target_estimator
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#load_mon
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local_position_estimator
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logger
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mavlink
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mc_att_control
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mc_hover_thrust_estimator
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mc_pos_control
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mc_rate_control
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navigator
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rc_update
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replay
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rover_pos_control
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sensors
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#sih
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simulator
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temperature_compensation
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vmount
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vtol_att_control
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uuv_att_control
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SYSTEMCMDS
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#config
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#dumpfile
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dyn
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esc_calib
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led_control
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mixer
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motor_ramp
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motor_test
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#mtd
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#nshterm
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param
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perf
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pwm
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reboot
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sd_bench
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shutdown
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tests # tests and test runner
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#top
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topic_listener
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tune_control
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ver
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work_queue
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EXAMPLES
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dyn_hello # dynamically loading modules example
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fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
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hello
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#hwtest # Hardware test
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#matlab_csv_serial
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px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
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px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
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rover_steering_control # Rover example app
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uuv_example_app
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)
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message(STATUS "Building without lockstep")
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set(ENABLE_LOCKSTEP_SCHEDULER no)
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@ -25,6 +25,7 @@ add_custom_target(run_config
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px4_add_git_submodule(TARGET git_gazebo PATH "${PX4_SOURCE_DIR}/Tools/sitl_gazebo")
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px4_add_git_submodule(TARGET git_jmavsim PATH "${PX4_SOURCE_DIR}/Tools/jMAVSim")
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px4_add_git_submodule(TARGET git_flightgear_bridge PATH "${PX4_SOURCE_DIR}/Tools/flightgear_bridge")
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# Add support for external project building
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include(ExternalProject)
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BUILD_ALWAYS 1
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)
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ExternalProject_Add(flightgear_bridge
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SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/flightgear_bridge
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CMAKE_ARGS
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-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
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BINARY_DIR ${PX4_BINARY_DIR}/build_flightgear_bridge
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INSTALL_COMMAND ""
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DEPENDS
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git_flightgear_bridge
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USES_TERMINAL_CONFIGURE true
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USES_TERMINAL_BUILD true
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EXCLUDE_FROM_ALL true
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BUILD_ALWAYS 1
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)
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# create targets for each viewer/model/debugger combination
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set(viewers none jmavsim gazebo)
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set(debuggers none ide gdb lldb ddd valgrind callgrind)
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endforeach()
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endforeach()
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#add flighgear targets
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if( ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
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set(models
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rascal
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rascal-electric
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tf-g1
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tf-r1
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)
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set(all_posix_vmd_make_targets)
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foreach(model ${models})
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set(_targ_name "flightgear_${model}")
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add_custom_target(${_targ_name}
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COMMAND ${PX4_SOURCE_DIR}/Tools/sitl_run.sh
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$<TARGET_FILE:px4>
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none
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flightgear
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${model}
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none
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${PX4_SOURCE_DIR}
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${PX4_BINARY_DIR}
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WORKING_DIRECTORY ${SITL_WORKING_DIR}
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USES_TERMINAL
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DEPENDS
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logs_symlink
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)
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add_dependencies(${_targ_name} px4 flightgear_bridge)
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list(APPEND all_posix_vmd_make_targets ${_targ_name})
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endforeach()
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endif()
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string(REPLACE ";" "," posix_vmd_make_target_list "${all_posix_vmd_make_targets}")
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add_custom_target(list_vmd_make_targets
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