From b436f3dd56f913c9eef0853b429ea7996d8e50e8 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 13 Nov 2018 15:22:35 +0100
Subject: [PATCH] ROMFS/Tools: switch to TCP connection for SITL

This switches from UDP to TCP to connect to jMAVSim.
---
 ROMFS/px4fmu_common/init.d-posix/rcS | 4 ++--
 Tools/jmavsim_run.sh                 | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index eb780666b6..81d458ca62 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -82,7 +82,7 @@ fi
 # multi-instance setup
 # shellcheck disable=SC2154
 param set MAV_SYS_ID $((px4_instance+1))
-simulator_udp_port=$((14560+px4_instance))
+simulator_tcp_port=$((4560+px4_instance))
 udp_offboard_port_local=$((14580+px4_instance))
 udp_offboard_port_remote=$((14540+px4_instance))
 udp_gcs_port_local=$((14570+px4_instance))
@@ -182,7 +182,7 @@ sh "$autostart_file"
 
 dataman start
 replay tryapplyparams
-simulator start -s -u $simulator_udp_port
+simulator start -s -t $simulator_tcp_port
 tone_alarm start
 gyrosim start
 accelsim start
diff --git a/Tools/jmavsim_run.sh b/Tools/jmavsim_run.sh
index 74da22e8ac..2eada001d1 100755
--- a/Tools/jmavsim_run.sh
+++ b/Tools/jmavsim_run.sh
@@ -5,7 +5,7 @@ set -e
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 cd "$SCRIPT_DIR/jMAVSim"
 
-udp_port=14560
+tcp_port=4560
 extra_args=
 baudrate=921600
 device=
@@ -22,7 +22,7 @@ while getopts ":b:d:p:qr:f:i:" opt; do
 			ip="$OPTARG"
 			;;
 		p)
-			udp_port=$OPTARG
+			tcp_port=$OPTARG
 			;;
 		q)
 			extra_args="$extra_args -qgc"
@@ -41,7 +41,7 @@ while getopts ":b:d:p:qr:f:i:" opt; do
 done
 
 if [ "$device" == "" ]; then
-	device="-udp $ip:$udp_port"
+	device="-tcp $ip:$tcp_port"
 else
 	device="-serial $device $baudrate"
 fi