From 005d6a2c278e9d8b3e60e9497cc96518946b86ca Mon Sep 17 00:00:00 2001 From: haitomatic Date: Mon, 10 Jun 2024 10:28:54 +0000 Subject: [PATCH] gzsim SITL: use SIM_GZ_SHOME for GPS home position parsing from gzsim false by default --- ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_fog_x | 1 + .../init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 | 1 + .../init.d-posix/airframes/50005_gz_ssrc_scout_mini_rover | 1 + src/modules/simulation/gz_bridge/parameters.c | 2 +- 4 files changed, 4 insertions(+), 1 deletion(-) diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_fog_x b/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_fog_x index 708253259623..bdeacc8daab4 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_fog_x +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_fog_x @@ -13,6 +13,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=holybro-x500} param set-default SIM_GZ_EN 1 param set-default SIM_GZ_RUN_GZSIM 0 +param set-default SIM_GZ_SHOME 1 param set-default SENS_EN_GPSSIM 1 param set-default SENS_EN_BAROSIM 1 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 index 5c1aa7f53eaa..2badaf651d87 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 @@ -14,6 +14,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=skywalker_x8} param set-default SIM_GZ_EN 1 param set-default SIM_GZ_RUN_GZSIM 0 +param set-default SIM_GZ_SHOME 1 param set-default SENS_EN_GPSSIM 1 param set-default SENS_EN_BAROSIM 1 diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini_rover index 37689eeb9e8e..15a248ed2fac 100644 --- a/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini_rover +++ b/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini_rover @@ -16,6 +16,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=scout_mini} param set-default SIM_GZ_EN 1 param set-default SIM_GZ_RUN_GZSIM 0 +param set-default SIM_GZ_SHOME 1 param set-default CA_AIRFRAME 6 diff --git a/src/modules/simulation/gz_bridge/parameters.c b/src/modules/simulation/gz_bridge/parameters.c index 1ceeae709711..dbd1d2dda542 100644 --- a/src/modules/simulation/gz_bridge/parameters.c +++ b/src/modules/simulation/gz_bridge/parameters.c @@ -56,7 +56,7 @@ PARAM_DEFINE_INT32(SIM_GZ_RUN_GZSIM, 1); * @reboot_required true * @group Simulator */ -PARAM_DEFINE_INT32(SIM_GZ_SHOME, 1); +PARAM_DEFINE_INT32(SIM_GZ_SHOME, 0); /** * simulator origin latitude