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mavros.launch: add hitl option for fcu_conn argument

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This commit is contained in:
Oleg Kalachev
2022-09-07 00:55:13 +03:00
parent 28d77aea33
commit fa4757a4c8
1 changed files with 4 additions and 1 deletions
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5
clover/launch/mavros.launch
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@@ -1,5 +1,5 @@
<launch>
<arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl -->
<arg name="fcu_conn" default="usb"/> <!-- options: usb, uart, tcp, udp, sitl, hitl -->
<arg name="fcu_ip" default="127.0.0.1"/>
<arg name="fcu_sys_id" default="1"/>
<arg name="gcs_bridge" default="tcp"/>
@@ -23,6 +23,9 @@
<!-- sitl since PX4 1.9.0 -->
<param name="fcu_url" value="udp://@$(arg fcu_ip):14580" if="$(eval fcu_conn == 'sitl')"/>
<!-- hitl connection (to gazebo_mavlink_interface plugin) -->
<param name="fcu_url" value="udp://$(arg fcu_ip):14540" if="$(eval fcu_conn == 'hitl')"/>
<!-- set target_system_id -->
<param name="target_system_id" value="$(arg fcu_sys_id)" />