From 25abea38ba8dd37e3772d603847ef94cd2ae4d30 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Mon, 16 Aug 2021 19:13:21 +0300
Subject: [PATCH] Use original PX4 v1.12 (#3)

* Use original PX4 v1.12

* Disable patching sitl_gazebo

* Fix

* Add Clover airframe to PX4

* Fix
---
 assets/desktop/jMAVSim.desktop   |  2 +-
 assets/patches/sitl_gazebo.patch |  2 +-
 scripts/install_software.sh      | 22 +++++++++++++---------
 3 files changed, 15 insertions(+), 11 deletions(-)

diff --git a/assets/desktop/jMAVSim.desktop b/assets/desktop/jMAVSim.desktop
index 48567a5..ab45987 100644
--- a/assets/desktop/jMAVSim.desktop
+++ b/assets/desktop/jMAVSim.desktop
@@ -3,7 +3,7 @@ Version=1.0
 Type=Application
 Name=jMAVSim
 Comment=A lightweight PX4 simulator
-Exec=/bin/bash -c 'cd ~/Firmware; make px4_sitl jmavsim'
+Exec=/bin/bash -c 'cd ~/PX4-Autopilot; make px4_sitl jmavsim'
 Icon=openjdk-8
 Path=
 Terminal=true
diff --git a/assets/patches/sitl_gazebo.patch b/assets/patches/sitl_gazebo.patch
index d1ebd03..a00a353 100644
--- a/assets/patches/sitl_gazebo.patch
+++ b/assets/patches/sitl_gazebo.patch
@@ -6,7 +6,7 @@ index 8de3079..3fdae02 100644
      ${CMAKE_SOURCE_DIR}/mavlink/
      ../../mavlink/
      ../mavlink/
-+    $ENV{HOME}/Firmware/mavlink/include
++    $ENV{HOME}/PX4-Autopilot/mavlink/include
      ${CATKIN_DEVEL_PREFIX}/
      )
  
diff --git a/scripts/install_software.sh b/scripts/install_software.sh
index 6f33922..ade6af4 100644
--- a/scripts/install_software.sh
+++ b/scripts/install_software.sh
@@ -31,17 +31,17 @@ rosdep update
 # FIXME: PX4 needs pip to be installed
 # FIXME: python2 dependencies?
 echo "--- Downloading PX4 and installing its dependencies"
-git clone --recursive -b v1.11.1-clover https://github.com/CopterExpress/Firmware ${HOME}/Firmware
+git clone --recursive --depth 1 --branch v1.12.0 https://github.com/PX4/PX4-Autopilot.git ${HOME}/PX4-Autopilot
 # PX4 v1.11.1 script will happily run sudo by itself
-${HOME}/Firmware/Tools/setup/ubuntu.sh
+${HOME}/PX4-Autopilot/Tools/setup/ubuntu.sh
 # Ubuntu 20.04 no longer sets assistive_technologies, thankfully
 
 echo "--- Prebuilding PX4 SITL configuration"
-make -C ${HOME}/Firmware px4_sitl
+make -C ${HOME}/PX4-Autopilot px4_sitl
 echo "--- Patching gazebo plugins for SITL"
-cd ${HOME}/Firmware/Tools/sitl_gazebo
-patch -p1 < /tmp/patches/sitl_gazebo.patch
-echo 'export SVGA_VGPU10=0' >> ${HOME}/Firmware/Tools/setup_gazebo.bash
+# cd ${HOME}/PX4-Autopilot/Tools/sitl_gazebo
+# patch -p1 < /tmp/patches/sitl_gazebo.patch
+echo 'export SVGA_VGPU10=0' >> ${HOME}/PX4-Autopilot/Tools/setup_gazebo.bash
 
 echo "source /usr/share/gazebo/setup.sh" >> ~/.bashrc
 echo "export SVGA_VGPU10=0" >> ~/.bashrc
@@ -97,8 +97,8 @@ git clone https://github.com/CopterExpress/ros_led ${HOME}/catkin_ws/src/ros_led
 # These packages are missing from Noetic release, but are required for sitl_gazebo
 git clone https://github.com/ethz-asl/mav_comm ${HOME}/catkin_ws/src/mav_comm
 # Make PX4 and Gazebo plugins visible in the workspace
-ln -s ${HOME}/Firmware ${HOME}/catkin_ws/src/Firmware
-ln -s ${HOME}/Firmware/Tools/sitl_gazebo ${HOME}/catkin_ws/src/sitl_gazebo
+ln -s ${HOME}/PX4-Autopilot ${HOME}/catkin_ws/src/PX4-Autopilot
+ln -s ${HOME}/PX4-Autopilot/Tools/sitl_gazebo ${HOME}/catkin_ws/src/sitl_gazebo
 rosdep install --from-paths ${HOME}/catkin_ws/src --ignore-src --rosdistro noetic -y
 sudo /opt/ros/noetic/lib/mavros/install_geographiclib_datasets.sh
 sudo /usr/bin/python3 -m pip install -r ${HOME}/catkin_ws/src/clover/clover/requirements.txt
@@ -106,6 +106,11 @@ source /opt/ros/noetic/setup.bash
 cd ${HOME}/catkin_ws && catkin_make
 echo "source ${HOME}/catkin_ws/devel/setup.bash" >> ~/.bashrc
 
+source $HOME/catkin_ws/devel/setup.bash
+
+echo "--- Adding Clover vehicle startup script to PX4"
+ln -s "$(catkin_find clover_simulation airframes)/*" $HOME/PX4-Autopilot/ROMFS/px4fmu_common/init.d-posix/airframes/
+
 echo "--- Installing npm"
 cd ${HOME}
 NODE_VERSION=v10.15.0 # GitBook won't install on newer version
@@ -179,7 +184,6 @@ monkey --version
 systemctl --version
 # TODO: add Python tests
 
-source $HOME/catkin_ws/devel/setup.bash
 roscore -h
 rosversion px4
 rosversion clover