From dbaa8bdf8813c3797733cc9f0f964be5e5ed6d15 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 17 Nov 2017 05:23:02 +0300
Subject: [PATCH] =?UTF-8?q?=E2=80=98udp=E2=80=99=20fcu=5Fconn=20in=20mavro?=
 =?UTF-8?q?s=20launch-file?=
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---
 clever/launch/clever.launch | 2 ++
 clever/launch/mavros.launch | 4 ++++
 2 files changed, 6 insertions(+)

diff --git a/clever/launch/clever.launch b/clever/launch/clever.launch
index f57be01b..011db8e4 100644
--- a/clever/launch/clever.launch
+++ b/clever/launch/clever.launch
@@ -1,5 +1,6 @@
 <launch>
     <arg name="fcu_conn" default="uart"/>
+    <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="gcs_bridge" default="tcp"/>
     <arg name="viz" default="true"/>
     <arg name="web_server" default="true"/>
@@ -13,6 +14,7 @@
     <!-- mavros -->
     <include file="$(find clever)/launch/mavros.launch">
         <arg name="fcu_conn" value="$(arg fcu_conn)"/>
+        <arg name="fcu_ip" value="$(arg fcu_ip)"/>
         <arg name="gcs_bridge" value="$(arg gcs_bridge)"/>
         <arg name="viz" value="$(arg viz)"/>
     </include>
diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch
index 03cc583e..2eb2d1b3 100644
--- a/clever/launch/mavros.launch
+++ b/clever/launch/mavros.launch
@@ -1,5 +1,6 @@
 <launch>
     <arg name="fcu_conn" default="uart"/>
+    <arg name="fcu_ip" default="127.0.0.1"/>
     <arg name="gcs_bridge" default="tcp"/>
     <arg name="viz" default="true"/>
 
@@ -10,6 +11,9 @@
         <!-- USB connection TODO: check-->
         <arg name="fcu_url" value="/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00" if="$(eval fcu_conn == 'usb')"/>
 
+        <!-- sitl -->
+        <arg name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
+
         <arg name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
         <arg name="gcs_url" value="udp://@192.168.11.14:14550" if="$(eval gcs_bridge == 'udp')"/> <!-- TODO: fix -->
     </include>