CopterExpress/clover
1
0
Fork 0
mirror of https://github.com/CopterExpress/clover.git synced 2026-05-30 06:49:32 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #227 from goldarte/target-system-id

Browse Source 
Add fcu_sys_id argument to clover.launch
This commit is contained in:
Oleg Kalachev
2020-05-06 13:30:46 +03:00
committed by GitHub
parent c7e7edec70 68edf07f6e
commit c8da639eab
2 changed files with 6 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
clover/launch/clover.launch
View File

@@ -1,6 +1,7 @@
<launch>
<arg name="fcu_conn" default="usb"/>
<arg name="fcu_ip" default="127.0.0.1"/>
<arg name="fcu_sys_id" default="1"/>
<arg name="gcs_bridge" default="tcp"/>
<arg name="web_video_server" default="true"/>
<arg name="rosbridge" default="true"/>
@@ -19,6 +20,7 @@
<include file="$(find clover)/launch/mavros.launch">
<arg name="fcu_conn" value="$(arg fcu_conn)"/>
<arg name="fcu_ip" value="$(arg fcu_ip)"/>
<arg name="fcu_sys_id" value="$(arg fcu_sys_id)"/>
<arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
</include>

4
clover/launch/mavros.launch
View File

@@ -1,6 +1,7 @@
<launch>
<arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl -->
<arg name="fcu_ip" default="127.0.0.1"/>
<arg name="fcu_sys_id" default="1"/>
<arg name="gcs_bridge" default="tcp"/>
<arg name="viz" default="true"/>
<arg name="respawn" default="true"/>
@@ -19,6 +20,9 @@
<!-- sitl since PX4 1.9.0 -->
<param name="fcu_url" value="udp://@$(arg fcu_ip):14580" if="$(eval fcu_conn == 'sitl')"/>
<!-- set target_system_id -->
<param name="target_system_id" value="$(arg fcu_sys_id)" />
<!-- gcs bridge -->
<param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
<param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>