diff --git a/libraries/SITL/SIM_Gazebo.cpp b/libraries/SITL/SIM_Gazebo.cpp index 0093ee1083..a87e2635f3 100644 --- a/libraries/SITL/SIM_Gazebo.cpp +++ b/libraries/SITL/SIM_Gazebo.cpp @@ -32,9 +32,6 @@ Gazebo::Gazebo(const char *home_str, const char *frame_str) : last_timestamp(0), socket_sitl{true} { - // try to bind to a specific port so that if we restart ArduPilot - // Gazebo keeps sending us packets. Not strictly necessary but - // useful for debugging fprintf(stdout, "Starting SITL Gazebo\n"); } @@ -43,9 +40,12 @@ Gazebo::Gazebo(const char *home_str, const char *frame_str) : */ void Gazebo::set_interface_ports(const char* address, const int port_in, const int port_out) { + // try to bind to a specific port so that if we restart ArduPilot + // Gazebo keeps sending us packets. Not strictly necessary but + // useful for debugging if (!socket_sitl.bind("0.0.0.0", port_in)) { fprintf(stderr, "SITL: socket in bind failed on sim in : %d - %s\n", port_in, strerror(errno)); - fprintf(stderr, "Abording launch...\n"); + fprintf(stderr, "Aborting launch...\n"); exit(1); } printf("Bind %s:%d for SITL in\n", "127.0.0.1", port_in); @@ -93,7 +93,7 @@ void Gazebo::recv_fdm(const struct sitl_input &input) } const double deltat = pkt.timestamp - last_timestamp; // in seconds - if (deltat < 0) { // don't use old paquet + if (deltat < 0) { // don't use old packet time_now_us += 1; return; }