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SITL.cs: fix some swarm regressions #3697

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Merged
meee1 merged 1 commit into from
Apr 4, 2026
+14 −6
Merged

SITL.cs: fix some swarm regressions #3697

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20 changes: 14 additions & 6 deletions GCSViews/SITL.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -875,20 +875,22 @@ public async Task StartSwarmSeperate(Firmwares firmware)
var extra = " ";

if (!string.IsNullOrEmpty(config))
extra += @" --defaults """ + config + @",identity.parm"" -P SERIAL0_PROTOCOL=2 -P SERIAL1_PROTOCOL=2 ";
extra += @" --defaults """ + config + @",identity.parm"" ";
else
extra += @" --defaults ""identity.parm"" ";

var home = new PointLatLngAlt(markeroverlay.Markers[0].Position).newpos((double)NUM_heading.Value, a * 4);

if (max == a)
{
extra += String.Format(
" -M{4} -s1 --home {3} --instance {0} --serial0 tcp:0 {1} -P SYSID_THISMAV={2} ",
" -M{4} -s1 --home {3} --instance {0} --serial0 tcp:0 {1} ",
a, "", a + 1, BuildHomeLocation(home, (int)NUM_heading.Value), model);
}
else
{
extra += String.Format(
" -M{4} -s1 --home {3} --instance {0} --serial0 tcp:0 {1} -P SYSID_THISMAV={2} ",
" -M{4} -s1 --home {3} --instance {0} --serial0 tcp:0 {1} ",
a, "" /*"--serial2 tcpclient:127.0.0.1:" + (5770 + 10 * a)*/, a + 1,
BuildHomeLocation(home, (int)NUM_heading.Value), model);
}
Expand All @@ -900,6 +902,7 @@ public async Task StartSwarmSeperate(Firmwares firmware)
File.WriteAllText(simdir + "identity.parm", String.Format(@"SERIAL0_PROTOCOL=2
SERIAL1_PROTOCOL=2
SYSID_THISMAV={0}
MAV_SYSID={0}
SIM_TERRAIN=0
TERRAIN_ENABLE=0
SCHED_LOOP_RATE=50
Expand Down Expand Up @@ -1021,20 +1024,22 @@ public async void StartSwarmChain()
var extra = " ";

if (!string.IsNullOrEmpty(config))
extra += @" --defaults """ + config + @",identity.parm"" -P SERIAL0_PROTOCOL=2 -P SERIAL1_PROTOCOL=2 ";
extra += @" --defaults """ + config + @",identity.parm"" ";
else
extra += @" --defaults ""identity.parm"" ";

var home = new PointLatLngAlt(markeroverlay.Markers[0].Position).newpos((double)NUM_heading.Value, a * 4);

if (max == a)
{
extra += String.Format(
" -M{4} -s1 --home {3} --instance {0} --serial0 tcp:0 {1} -P SYSID_THISMAV={2} ",
" -M{4} -s1 --home {3} --instance {0} --serial0 tcp:0 {1} ",
a, "", a + 1, BuildHomeLocation(home, (int)NUM_heading.Value), model);
}
else
{
extra += String.Format(
" -M{4} -s1 --home {3} --instance {0} --serial0 tcp:0 {1} -P SYSID_THISMAV={2} ",
" -M{4} -s1 --home {3} --instance {0} --serial0 tcp:0 {1} ",
a, "--serial2 tcpclient:127.0.0.1:" + (5772 + 10 * a), a + 1,
BuildHomeLocation(home, (int)NUM_heading.Value), model);
}
Expand All @@ -1046,6 +1051,7 @@ public async void StartSwarmChain()
File.WriteAllText(simdir + "identity.parm", String.Format(@"SERIAL0_PROTOCOL=2
SERIAL1_PROTOCOL=2
SYSID_THISMAV={0}
MAV_SYSID={0}
SIM_TERRAIN=0
TERRAIN_ENABLE=0
SCHED_LOOP_RATE=50
Expand Down Expand Up @@ -1076,6 +1082,8 @@ public async void StartSwarmChain()
Path.GetFileName(await exepath).Replace("C:", "/mnt/c").Replace("\\", "/").Replace(".exe", ".elf") + @"""" + " " +
extra.Replace("C:", "/mnt/c").Replace("\\", "/") + " &\nsleep .3\ncd ..\n");

log.InfoFormat("sitl: {0} {1} {2}", exestart.WorkingDirectory, exestart.FileName, exestart.Arguments);

simulator.Add(System.Diagnostics.Process.Start(exestart));
}

Expand Down
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