Multi start scripts

.github/workflows/build_tests.yml

@@ -0,0 +1,29 @@
+name: Build Tests
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ubuntu_release: [
+          bionic
+          ]
+    container: px4io/px4-dev-simulation-${{ matrix.ubuntu_release }}:2020-04-01
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+    - name: build
+      run:
+        mkdir build;
+        cd build;
+        cmake ..;
+        make

.gitmodules

@@ -1,5 +1,5 @@
 [submodule "models/FlightGear-Rascal"]
-	path = models/FlightGear-Rascal
+	path = models/Rascal
 	url = https://github.com/ThunderFly-aerospace/FlightGear-Rascal.git
 [submodule "models/FlightGear-TF-G1"]
 	path = models/TF-G1

README.md

@@ -1,5 +1,7 @@
 # FlightGear Bridge
 
+![Build Tests](https://github.com/PX4/PX4-FlightGear-Bridge/workflows/Build%20Tests/badge.svg)
+
 The FlightGear alternative to the current PX4's mainstream simulator Gazebo.
 
 ![FlightGear SITL connected with PX4 and QGroundControl](art/screenshot.png)

scripts/vehicle1.sh

@@ -0,0 +1,47 @@
+#!/bin/bash
+# get absolute path of models folder
+SCRIPT=$(readlink -f $0)
+ROOT_DIR=`dirname $SCRIPT`/../
+FIRMWARE_DIR=`dirname $SCRIPT`/../../../
+MODEL_PATH=${ROOT_DIR}/models
+
+export FG_BINARY=fgfs
+export FG_MODELS_DIR=${MODEL_PATH}
+export FG_ARGS_EX="--allow-nasal-read=${MODEL_PATH} \
+                   --callsign=TF-A1 \
+                   --offset-distance=0.005 \
+                   --offset-azimuth=310 \
+                   --ignore-autosave \
+                   --disable-hold-short \
+                   --prop:input/joysticks/js=0 \
+                   --disable-mouse-pointer \
+                   --multiplay=out,10,127.0.0.1,5000 \
+                   --multiplay=in,10,127.0.0.1,5001"
+export PX4_ID=0
+export model="rascal"
+
+#expect that we have builded target px4_sitl_nolockstep with FlightGear bridge
+#by px4_sitl_nolockstep flightgear_rascal
+
+src_path=${FIRMWARE_DIR}
+build_path=${FIRMWARE_DIR}"/build/px4_sitl_nolockstep/"
+sitl_bin=${build_path}"/bin/px4"
+
+#copied form sitl_run.sh
+rootfs="$build_path/tmp/rootfs_"$PX4_ID # this is the working directory
+mkdir -p "$rootfs"
+
+cd "${src_path}/Tools/flightgear_bridge/"
+"${src_path}/Tools/flightgear_bridge/FG_run.py" "models/"${model}".json" $PX4_ID
+"${build_path}/build_flightgear_bridge/flightgear_bridge" $PX4_ID `./get_FGbridge_params.py "models/"${model}".json"` &
+FG_BRIDGE_PID=`echo $!`
+
+cd ${rootfs}
+sitl_command="\"$sitl_bin\" $no_pxh \"$src_path\"/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t \"$src_path\"/test_data -i $PX4_ID"
+echo $sitl_command
+
+export PX4_SIM_MODEL=${model}
+eval $sitl_command
+
+kill $FG_BRIDGE_PID
+kill -9 `cat /tmp/px4fgfspid_$PX4_ID`

scripts/vehicle2.sh

@@ -0,0 +1,47 @@
+#!/bin/bash
+# get absolute path of models folder
+SCRIPT=$(readlink -f $0)
+ROOT_DIR=`dirname $SCRIPT`/../
+FIRMWARE_DIR=`dirname $SCRIPT`/../../../
+MODEL_PATH=${ROOT_DIR}/models
+
+export FG_BINARY=fgfs
+export FG_MODELS_DIR=${MODEL_PATH}
+export FG_ARGS_EX="--allow-nasal-read=${MODEL_PATH} \
+                   --callsign=TF-A2 \
+                   --offset-distance=0.02 \
+                   --offset-azimuth=310 \
+                   --ignore-autosave \
+                   --disable-hold-short \
+                   --prop:input/joysticks/js=0 \
+                   --disable-mouse-pointer \
+                   --multiplay=out,10,127.0.0.1,5001 \
+                   --multiplay=in,10,127.0.0.1,5000"
+export PX4_ID=1
+export model="rascal"
+
+#expect that we have builded target px4_sitl_nolockstep with FlightGear bridge
+#by px4_sitl_nolockstep flightgear_rascal
+
+src_path=${FIRMWARE_DIR}
+build_path=${FIRMWARE_DIR}"/build/px4_sitl_nolockstep/"
+sitl_bin=${build_path}"/bin/px4"
+
+#copied form sitl_run.sh
+rootfs="$build_path/tmp/rootfs_"$PX4_ID # this is the working directory
+mkdir -p "$rootfs"
+
+cd "${src_path}/Tools/flightgear_bridge/"
+"${src_path}/Tools/flightgear_bridge/FG_run.py" "models/"${model}".json" $PX4_ID
+"${build_path}/build_flightgear_bridge/flightgear_bridge" $PX4_ID `./get_FGbridge_params.py "models/"${model}".json"` &
+FG_BRIDGE_PID=`echo $!`
+
+cd ${rootfs}
+sitl_command="\"$sitl_bin\" $no_pxh \"$src_path\"/ROMFS/px4fmu_common -s etc/init.d-posix/rcS -t \"$src_path\"/test_data -i $PX4_ID"
+echo $sitl_command
+
+export PX4_SIM_MODEL=${model}
+eval $sitl_command
+
+kill $FG_BRIDGE_PID
+kill -9 `cat /tmp/px4fgfspid_$PX4_ID`