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posix rcS: automatically find the requested model instead of explicitly enumerating them

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Beat Küng
2018-08-13 07:50:12 +02:00
committed by Daniel Agar
parent 4e860e357c
commit 923f6239e1
1 changed files with 7 additions and 28 deletions
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35
ROMFS/px4fmu_common/init.d-posix/rcS
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@@ -38,35 +38,14 @@ set RUN_MINIMAL_SHELL no
# Use the variable set by sitl_run.sh to choose the model settings.
if [ "$PX4_SIM_MODEL" == "shell" ]; then
set RUN_MINIMAL_SHELL yes
elif [ "$PX4_SIM_MODEL" == "iris" ]; then
set REQUESTED_AUTOSTART 10016
elif [ "$PX4_SIM_MODEL" == "iris_opt_flow" ]; then
set REQUESTED_AUTOSTART 1010
elif [ "$PX4_SIM_MODEL" == "iris_irlock" ]; then
set REQUESTED_AUTOSTART 1011
elif [ "$PX4_SIM_MODEL" == "iris_rplidar" ]; then
set REQUESTED_AUTOSTART 1012
elif [ "$PX4_SIM_MODEL" == "iris_vision" ]; then
set REQUESTED_AUTOSTART 1013
elif [ "$PX4_SIM_MODEL" == "solo" ]; then
set REQUESTED_AUTOSTART 1014
elif [ "$PX4_SIM_MODEL" == "hippocampus" ]; then
set REQUESTED_AUTOSTART 1020
elif [ "$PX4_SIM_MODEL" == "plane" ]; then
set REQUESTED_AUTOSTART 1030
elif [ "$PX4_SIM_MODEL" == "standard_vtol" ]; then
set REQUESTED_AUTOSTART 1040
elif [ "$PX4_SIM_MODEL" == "tailsitter" ]; then
set REQUESTED_AUTOSTART 1041
elif [ "$PX4_SIM_MODEL" == "tiltrotor" ]; then
set REQUESTED_AUTOSTART 1042
elif [ "$PX4_SIM_MODEL" == "rover" ]; then
set REQUESTED_AUTOSTART 1060
elif [ "$PX4_SIM_MODEL" == "typhoon_h480" ]; then
set REQUESTED_AUTOSTART 6011
else
echo "Unknown model"
exit -1
# Find the matching Autostart ID (file name has the form: [0-9]+_${PX4_SIM_MODEL})
# shellcheck disable=SC2010 #(the file names don't contain spaces)
REQUESTED_AUTOSTART=$(ls "$SCRIPT_DIR" | grep -oP '^[0-9]+(?=_'${PX4_SIM_MODEL}'$)')
if [ -z "$REQUESTED_AUTOSTART" ]; then
echo "Error: Unknown model '$PX4_SIM_MODEL'"
exit -1
fi
fi
# clear bootlog