SITL flightgear make airframes simulator specific

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -54,6 +54,7 @@ px4_add_romfs_files(
 	1031_plane_cam
 	1032_plane_catapult
 	1033_jsbsim_rascal
+	1034_flightgear_rascal-electric
 	1035_techpod
 	1036_jsbsim_malolo
 	1037_believer
@@ -66,7 +67,6 @@ px4_add_romfs_files(
 	1044_plane_lidar
 	1060_rover
 	1061_r1_rover
-	1062_tf-r1
 	1070_boat
 
 	3010_jsbsim_quadrotor_x
@@ -74,8 +74,6 @@ px4_add_romfs_files(
 
 	4001_x500
 
-	17001_tf-g1
-	17002_tf-g2
 	2507_cloudship
 
 	6011_typhoon_h480
@@ -84,4 +82,7 @@ px4_add_romfs_files(
 	10040_sihsim_quadx
 	10041_sihsim_airplane
 	10042_sihsim_xvert
+
+	17001_flightgear_tf-g1
+	17002_flightgear_tf-g2
 )

Tools/simulation/flightgear/sitl_run.sh

@@ -22,7 +22,7 @@ echo build_path: $build_path
 rootfs="$build_path/rootfs" # this is the working directory
 mkdir -p "$rootfs"
 
-export PX4_SIM_MODEL=${model}
+export PX4_SIM_MODEL=flightgear_${model}
 
 echo "FG setup"
 cd "${src_path}/Tools/simulation/flightgear/flightgear_bridge/"

src/modules/simulation/simulator_mavlink/sitl_targets_flightgear.cmake

@@ -1,5 +1,9 @@
 if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
 
+	find_program(FGFS_PATH "fgfs")
+
+	if(FGFS_PATH)
+
 		px4_add_git_submodule(TARGET git_flightgear_bridge PATH "${PX4_SOURCE_DIR}/Tools/simulation/flightgear/flightgear_bridge")
 
 		include(ExternalProject)
@@ -24,6 +28,20 @@ if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
 			tf-r1
 		)
 
+		# find corresponding airframes
+		file(GLOB flightgear_airframes
+			RELATIVE ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes
+			${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/init.d-posix/airframes/*_flightgear_*
+		)
+
+		# remove any .post files
+		foreach(flightgear_airframe IN LISTS flightgear_airframes)
+			if(flightgear_airframe MATCHES ".post")
+				list(REMOVE_ITEM flightgear_airframes ${flightgear_airframe})
+			endif()
+		endforeach()
+		list(REMOVE_DUPLICATES flightgear_airframes)
+
 		# default flightgear target
 		add_custom_target(flightgear
 			COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/flightgear/sitl_run.sh $<TARGET_FILE:px4> "rascal" ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
@@ -33,6 +51,28 @@ if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
 		)
 
 		foreach(model ${models})
+
+			# match model to airframe
+			set(airframe_model_only)
+			set(airframe_sys_autostart)
+			set(flightgear_airframe_found)
+			foreach(flightgear_airframe IN LISTS flightgear_airframes)
+
+				string(REGEX REPLACE ".*_flightgear_" "" airframe_model_only ${flightgear_airframe})
+				string(REGEX REPLACE "_flightgear_.*" "" airframe_sys_autostart ${flightgear_airframe})
+
+				if(model STREQUAL ${airframe_model_only})
+					set(flightgear_airframe_found ${flightgear_airframe})
+					break()
+				endif()
+			endforeach()
+
+			if(flightgear_airframe_found)
+				#message(STATUS "flightgear model: ${model} (${airframe_model_only}), airframe: ${flightgear_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+			else()
+				message(WARNING "flightgear missing model: ${model} (${airframe_model_only}), airframe: ${flightgear_airframe_found}, SYS_AUTOSTART: ${airframe_sys_autostart}")
+			endif()
+
 			add_custom_target(flightgear_${model}
 				COMMAND ${PX4_SOURCE_DIR}/Tools/simulation/flightgear/sitl_run.sh $<TARGET_FILE:px4> ${model} ${PX4_SOURCE_DIR} ${PX4_BINARY_DIR}
 				WORKING_DIRECTORY ${SITL_WORKING_DIR}
@@ -41,3 +81,4 @@ if(ENABLE_LOCKSTEP_SCHEDULER STREQUAL "no")
 			)
 		endforeach()
 	endif()
+endif()