From 68e17af07069b6cbd61f2fb685005d0a0766f98c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Fri, 29 Apr 2016 09:03:48 +1000
Subject: [PATCH] SITL: allow for changing FlightAxis controller IP

---
 libraries/SITL/SIM_FlightAxis.cpp | 11 ++++++-----
 libraries/SITL/SIM_FlightAxis.h   |  3 +++
 2 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/libraries/SITL/SIM_FlightAxis.cpp b/libraries/SITL/SIM_FlightAxis.cpp
index 70064afe18..87832710f0 100644
--- a/libraries/SITL/SIM_FlightAxis.cpp
+++ b/libraries/SITL/SIM_FlightAxis.cpp
@@ -31,9 +31,6 @@
 
 extern const AP_HAL::HAL& hal;
 
-#define FLIGHTAXIS_SERVER_IP "192.168.2.48"
-#define FLIGHTAXIS_SERVER_PORT 18083
-
 namespace SITL {
 
 // the asprintf() calls are not worth checking for SITL
@@ -46,6 +43,10 @@ FlightAxis::FlightAxis(const char *home_str, const char *frame_str) :
     rate_hz = 250 / target_speedup;
     heli_demix = strstr(frame_str, "helidemix") != NULL;
     rev4_servos = strstr(frame_str, "rev4") != NULL;
+    const char *colon = strchr(frame_str, ':');
+    if (colon) {
+        controller_ip = colon+1;
+    }
 }
 
 /*
@@ -87,7 +88,7 @@ char *FlightAxis::soap_request(const char *action, const char *fmt, ...)
     
     // open SOAP socket to FlightAxis
     SocketAPM sock(false);
-    if (!sock.connect(FLIGHTAXIS_SERVER_IP, FLIGHTAXIS_SERVER_PORT)) {
+    if (!sock.connect(controller_ip, controller_port)) {
         free(req1);
         return nullptr;
     }
@@ -151,7 +152,7 @@ Connection: Keep-Alive
 void FlightAxis::exchange_data(const struct sitl_input &input)
 {
     if (!controller_started) {
-        printf("Starting controller\n");
+        printf("Starting controller at %s\n", controller_ip);
         // call a restore first. This allows us to connect after the aircraft is changed in RealFlight
         char *reply = soap_request("RestoreOriginalControllerDevice", R"(<?xml version='1.0' encoding='UTF-8'?>
 <soap:Envelope xmlns:soap='http://schemas.xmlsoap.org/soap/envelope/' xmlns:xsd='http://www.w3.org/2001/XMLSchema' xmlns:xsi='http://www.w3.org/2001/XMLSchema-instance'>
diff --git a/libraries/SITL/SIM_FlightAxis.h b/libraries/SITL/SIM_FlightAxis.h
index 635077d5ed..719f0133a4 100644
--- a/libraries/SITL/SIM_FlightAxis.h
+++ b/libraries/SITL/SIM_FlightAxis.h
@@ -155,6 +155,9 @@ private:
     uint64_t activation_frame_counter = 0;
     double last_frame_count_s = 0;
     Vector3f position_offset;
+
+    const char *controller_ip = "127.0.0.1";
+    uint16_t controller_port = 18083;
 };