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SITL: handle 'make posix_sitl_shell' via unified rcS

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The command is now: 'make posix none_shell'
which means: don't start a simulator and run a minimal shell only.
This commit is contained in:
Beat Küng
2018-08-10 19:22:41 +02:00
committed by Daniel Agar
parent ab7f68f2ad
commit 1318e614ad
4 changed files with 9 additions and 25 deletions
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ROMFS/px4fmu_common/init.d-posix/rcS
+7 -5
View File
@@ -14,14 +14,13 @@ then
exit 0 exit 0
fi fi
RUN_MINIMAL_SHELL=no
# TODO: In the future we want to share rc.autostart with NuttX
#source rc.autostart
# Use the variable set by sitl_run.sh to choose the model settings. # Use the variable set by sitl_run.sh to choose the model settings.
if [ "$PX4_SIM_MODEL" == "iris" ]; then if [ "$PX4_SIM_MODEL" == "shell" ]; then
set RUN_MINIMAL_SHELL yes
elif [ "$PX4_SIM_MODEL" == "iris" ]; then
set REQUESTED_AUTOSTART 10016 set REQUESTED_AUTOSTART 10016
elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then
set REQUESTED_AUTOSTART 6011 set REQUESTED_AUTOSTART 6011
else else
@@ -35,6 +34,9 @@ then
param load param load
fi fi
# exit early when the minimal shell is requested
[ $RUN_MINIMAL_SHELL == yes ] && exit 0
if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART if param compare SYS_AUTOSTART $REQUESTED_AUTOSTART
then then
set AUTOCNF no set AUTOCNF no
cmake/configs/posix_sitl_shell.cmake
-5
View File
@@ -1,5 +0,0 @@
include(cmake/configs/posix_sitl_default.cmake)
set(config_sitl_rcS_dir
posix-configs/SITL/init/shell
)
platforms/posix/cmake/sitl_target.cmake
+2 -2
View File
@@ -45,9 +45,9 @@ ExternalProject_Add_Step(sitl_gazebo forceconfigure
) )
# create targets for each viewer/model/debugger combination # create targets for each viewer/model/debugger combination
set(viewers none jmavsim gazebo replay) set(viewers none jmavsim gazebo)
set(debuggers none ide gdb lldb ddd valgrind callgrind) set(debuggers none ide gdb lldb ddd valgrind callgrind)
set(models none iris iris_opt_flow iris_vision iris_rplidar iris_irlock standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus tiltrotor) set(models none shell iris iris_opt_flow iris_vision iris_rplidar iris_irlock standard_vtol plane solo tailsitter typhoon_h480 rover hippocampus tiltrotor)
set(all_posix_vmd_make_targets) set(all_posix_vmd_make_targets)
foreach(viewer ${viewers}) foreach(viewer ${viewers})
foreach(debugger ${debuggers}) foreach(debugger ${debuggers})
posix-configs/SITL/init/shell/iris
-13
View File
@@ -1,13 +0,0 @@
#!/usr/bin/bash
# PX4 commands need the 'px4-' prefix in bash.
# (px4-alias.sh is expected to be in the PATH)
source px4-alias.sh
uorb start
param load
param set SYS_RESTART_TYPE 0
dataman start
tone_alarm start