start_px4_sitl.sh

#!/usr/bin/env bash

# This script spawns the Gazebo PX4 software in the loop (SITL) simulation.
# Options:
#     AUTOSTART_SITL=1 if SITL is started manually or real hardware is used.
#     PX4_FIRMWARE_DIR=<path> to specify where the source of the PX4 Firmware is.
#     HEADLESS=1 if you don't need the simulation viewer.

if [[ $AUTOSTART_SITL != 1 ]]; then
    echo "Not autostarting SITL (use AUTOSTART_SITL=1)"
    exit 0
fi

if [[ -n "$PX4_FIRMWARE_DIR" ]]; then
    px4_firmware_dir=$PX4_FIRMWARE_DIR
else
    # Try to use the documented default path.
    px4_firmware_dir=$HOME/src/Firmware
fi

# HEADLESS=1 can still be set when the integration tests are run.
#export HEADLESS=0

# Make sure everything is stopped first.
./stop_px4_sitl.sh
# To prevent any races.
sleep 1

current_dir=$(pwd)
log_dir=$current_dir/logs

# Create log dir in case it doesn't exist yet
mkdir -p $log_dir

# No user input needed, run it in deamon mode.
export NO_PXH=1

# The logs are saved with a timestamp.
if [[ "$unamestr" == 'Linux' ]]; then
    timestamp=`date --iso-8601=seconds`
else
    timestamp=`date +%Y-%m-%dT%H:%M:%S%z`
fi

# Before changing dir, save where we start from.
pushd .

# Go to Firmware build dir.
cd $px4_firmware_dir/build/posix_sitl_default/tmp

# And run
$px4_firmware_dir/Tools/sitl_run.sh \
    $px4_firmware_dir/build/posix_sitl_default/px4 \
    posix-configs/SITL/init/lpe \
    none gazebo iris \
    $px4_firmware_dir \
    $px4_firmware_dir/build/posix_sitl_default 2>1 > $log_dir/px4_sitl-$timestamp.log &

# Go back to dir where we started
popd

echo "done"