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Support large number of vehicles in multivehicle SITL #14126

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merged 3 commits into from
Feb 18, 2020
Merged

Support large number of vehicles in multivehicle SITL #14126

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f903de3
Fix gcs udp port to support more vehicles in multivehicle sitl
Jaeyoung-Lim Feb 9, 2020
8c9aa48
Limit remote udp port to 14549
Jaeyoung-Lim Feb 17, 2020
efe9c0d
Cleanup port handling
Jaeyoung-Lim Feb 18, 2020
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4 changes: 3 additions & 1 deletion ROMFS/px4fmu_common/init.d-posix/rcS
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Expand Up @@ -109,7 +109,9 @@ param set MAV_SYS_ID $((px4_instance+1))
simulator_tcp_port=$((4560+px4_instance))
udp_offboard_port_local=$((14580+px4_instance))
udp_offboard_port_remote=$((14540+px4_instance))
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udp_gcs_port_local=$((14570+px4_instance))
[ $px4_instance > 9] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
udp_gcs_port_local=$((18570+px4_instance))


if [ $AUTOCNF = yes ]
then
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