gzsim SITL: use SIM_GZ_SHOME for GPS home position parsing from gzsim…

… false by default
tiiuae · Jun 11, 2024 · 3f6469a · 3f6469a
1 parent b2288f5
commit 3f6469a
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Showing 4 changed files with 4 additions and 1 deletion.
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_fog_x b/ROMFS/px4fmu_common/init.d-posix/airframes/4401_gz_ssrc_fog_x
@@ -13,6 +13,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=holybro-x500}
 
 param set-default SIM_GZ_EN 1
 param set-default SIM_GZ_RUN_GZSIM 0
+param set-default SIM_GZ_SHOME 1
 
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8 b/ROMFS/px4fmu_common/init.d-posix/airframes/4440_gz_ssrc_skywalker_x8
@@ -14,6 +14,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=skywalker_x8}
 
 param set-default SIM_GZ_EN 1
 param set-default SIM_GZ_RUN_GZSIM 0
+param set-default SIM_GZ_SHOME 1
 
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 1

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini_rover b/ROMFS/px4fmu_common/init.d-posix/airframes/50005_gz_ssrc_scout_mini_rover
@@ -16,6 +16,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=scout_mini}
 
 param set-default SIM_GZ_EN 1
 param set-default SIM_GZ_RUN_GZSIM 0
+param set-default SIM_GZ_SHOME 1
 
 param set-default CA_AIRFRAME 6
 

diff --git a/src/modules/simulation/gz_bridge/parameters.c b/src/modules/simulation/gz_bridge/parameters.c
@@ -56,7 +56,7 @@ PARAM_DEFINE_INT32(SIM_GZ_RUN_GZSIM, 1);
  * @reboot_required true
  * @group Simulator
  */
-PARAM_DEFINE_INT32(SIM_GZ_SHOME, 1);
+PARAM_DEFINE_INT32(SIM_GZ_SHOME, 0);
 
 /**
  * simulator origin latitude