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SITL: add multi-vehicle support to rcS

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This also removes the HIGHRES_IMU mavlink stream to the GCS. I don't see
why it's needed and it adds noticeable CPU load.
This commit is contained in:
Beat Küng
2018-08-11 14:09:20 +02:00
committed by Daniel Agar
parent a00f7ebf47
commit e6b9806ee1
9 changed files with 37 additions and 233 deletions
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4
launch/multi_uav_mavros_sitl.launch
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@@ -34,7 +34,7 @@
<arg name="Y" value="0"/>
<arg name="vehicle" value="$(arg vehicle)"/>
<arg name="rcS" value="$(find px4)/posix-configs/SITL/init/$(arg est)/$(arg vehicle)_$(arg ID)"/>
<arg name="mavlink_udp_port" value="14560"/>
<arg name="mavlink_udp_port" value="14561"/>
<arg name="ID" value="$(arg ID)"/>
</include>
<!-- MAVROS -->
@@ -49,7 +49,7 @@
<group ns="uav2">
<!-- MAVROS and vehicle configs -->
<arg name="ID" value="2"/>
<arg name="fcu_url" default="udp://:14541@localhost:14559"/>
<arg name="fcu_url" default="udp://:14541@localhost:14558"/>
<!-- PX4 SITL and vehicle spawn -->
<include file="$(find px4)/launch/single_vehicle_spawn.launch">
<arg name="x" value="1"/>