From f88d9eea2edc716455440b01414b402816764ff4 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 6 Nov 2019 22:54:38 +0300
Subject: [PATCH] mavros.launch: add fcu_conn option for sitl since PX4 1.9.0

---
 clever/launch/mavros.launch | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/clever/launch/mavros.launch b/clever/launch/mavros.launch
index 55ea987e..ae53b486 100644
--- a/clever/launch/mavros.launch
+++ b/clever/launch/mavros.launch
@@ -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')"/>