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mavros.launch: add fcu_conn option for sitl since PX4 1.9.0

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This commit is contained in:
Oleg Kalachev
2019-11-06 22:54:38 +03:00
parent 5ab5418866
commit f88d9eea2e
1 changed files with 5 additions and 2 deletions
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7
clever/launch/mavros.launch
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@@ -1,5 +1,5 @@
<launch>
<arg name="fcu_conn" default="usb"/>
<arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl -->
<arg name="fcu_ip" default="127.0.0.1"/>
<arg name="gcs_bridge" default="tcp"/>
<arg name="viz" default="true"/>
@@ -13,9 +13,12 @@
<!-- USB connection -->
<param name="fcu_url" value="/dev/px4fmu" if="$(eval fcu_conn == 'usb')"/>
<!-- sitl -->
<!-- sitl before PX4 1.9.0 -->
<param name="fcu_url" value="udp://@$(arg fcu_ip):14557" if="$(eval fcu_conn == 'udp')"/>
<!-- sitl since PX4 1.9.0 -->
<param name="fcu_url" value="udp://@$(arg fcu_ip):14580" if="$(eval fcu_conn == 'sitl')"/>
<!-- gcs bridge -->
<param name="gcs_url" value="tcp-l://0.0.0.0:5760" if="$(eval gcs_bridge == 'tcp')"/>
<param name="gcs_url" value="udp://0.0.0.0:14550@14550" if="$(eval gcs_bridge == 'udp')"/>