SITL: remove home_str from constructor

libraries/SITL/SIM_AirSim.cpp

@@ -16,8 +16,8 @@ extern const AP_HAL::HAL& hal;
 
 using namespace SITL;
 
-AirSim::AirSim(const char *home_str, const char *frame_str) :
-	Aircraft(home_str, frame_str),
+AirSim::AirSim(const char *frame_str) :
+	Aircraft(frame_str),
 	sock(true)
 {
 	printf("Starting SITL Airsim\n");

libraries/SITL/SIM_AirSim.h

@@ -15,14 +15,14 @@ namespace SITL {
 
 class AirSim : public Aircraft {
 public:
-	AirSim(const char *home_str, const char *frame_str);
+	AirSim(const char *frame_str);
 
 	/* update model by one time step */
 	void update(const struct sitl_input &input) override;
 
 	/* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new AirSim(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new AirSim(frame_str);
     }
 
     /*  Create and set in/out socket for Airsim simulator */

libraries/SITL/SIM_Aircraft.cpp

@@ -38,7 +38,7 @@ using namespace SITL;
   parent class for all simulator types
  */
 
-Aircraft::Aircraft(const char *home_str, const char *frame_str) :
+Aircraft::Aircraft(const char *frame_str) :
     ground_level(0.0f),
     frame_height(0.0f),
     dcm(),
@@ -63,6 +63,19 @@ Aircraft::Aircraft(const char *home_str, const char *frame_str) :
     // make the SIM_* variables available to simulator backends
     sitl = AP::sitl();
 
+    set_speedup(1.0f);
+
+    last_wall_time_us = get_wall_time_us();
+    frame_counter = 0;
+
+    // allow for orientation settings, such as with tailsitters
+    enum ap_var_type ptype;
+    ahrs_orientation = (AP_Int8 *)AP_Param::find("AHRS_ORIENTATION", &ptype);
+    terrain = reinterpret_cast<AP_Terrain *>(AP_Param::find_object("TERRAIN_"));
+}
+
+void Aircraft::set_start_location(const char *home_str)
+{
     if (!parse_home(home_str, home, home_yaw)) {
         ::printf("Failed to parse home string (%s).  Should be LAT,LON,ALT,HDG e.g. 37.4003371,-122.0800351,0,353\n", home_str);
     }
@@ -75,19 +88,8 @@ Aircraft::Aircraft(const char *home_str, const char *frame_str) :
     ground_level = home.alt * 0.01f;
 
     dcm.from_euler(0.0f, 0.0f, radians(home_yaw));
-
-    set_speedup(1.0f);
-
-    last_wall_time_us = get_wall_time_us();
-    frame_counter = 0;
-
-    // allow for orientation settings, such as with tailsitters
-    enum ap_var_type ptype;
-    ahrs_orientation = (AP_Int8 *)AP_Param::find("AHRS_ORIENTATION", &ptype);
-    terrain = reinterpret_cast<AP_Terrain *>(AP_Param::find_object("TERRAIN_"));
 }
 
-
 /*
   parse a home string into a location and yaw
  */

libraries/SITL/SIM_Aircraft.h

@@ -37,7 +37,10 @@ namespace SITL {
  */
 class Aircraft {
 public:
-    Aircraft(const char *home_str, const char *frame_str);
+    Aircraft(const char *frame_str);
+
+    // called directly after constructor:
+    virtual void set_start_location(const char *home_str);
 
     /*
       set simulation speedup

libraries/SITL/SIM_BalanceBot.cpp

@@ -23,8 +23,8 @@ extern const AP_HAL::HAL& hal;
 
 namespace SITL {
 
-BalanceBot::BalanceBot(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str),
+BalanceBot::BalanceBot(const char *frame_str) :
+    Aircraft(frame_str),
     skid_turn_rate(140) // degrees/sec
 {
     dcm.from_euler(0,0,0); // initial yaw, pitch and roll in radians

libraries/SITL/SIM_BalanceBot.h

@@ -24,14 +24,14 @@ namespace SITL {
 
 class BalanceBot : public Aircraft {
 public:
-    BalanceBot(const char *home_str, const char *frame_str);
+    BalanceBot(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new BalanceBot(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new BalanceBot(frame_str);
     }
 
 private:

libraries/SITL/SIM_Balloon.cpp

@@ -22,8 +22,8 @@
 
 namespace SITL {
 
-Balloon::Balloon(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str)
+Balloon::Balloon(const char *frame_str) :
+    Aircraft(frame_str)
 {
     mass = 5.0f;
 }

libraries/SITL/SIM_Balloon.h

@@ -27,14 +27,14 @@ namespace SITL {
  */
 class Balloon : public Aircraft {
 public:
-    Balloon(const char *home_str, const char *frame_str);
+    Balloon(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new Balloon(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new Balloon(frame_str);
     }
 
 private:

libraries/SITL/SIM_CRRCSim.cpp

@@ -26,8 +26,8 @@ extern const AP_HAL::HAL& hal;
 
 namespace SITL {
 
-CRRCSim::CRRCSim(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str),
+CRRCSim::CRRCSim(const char *frame_str) :
+    Aircraft(frame_str),
     last_timestamp(0),
     sock(true)
 {

libraries/SITL/SIM_CRRCSim.h

@@ -29,14 +29,14 @@ namespace SITL {
  */
 class CRRCSim : public Aircraft {
 public:
-    CRRCSim(const char *home_str, const char *frame_str);
+    CRRCSim(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new CRRCSim(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new CRRCSim(frame_str);
     }
 
 private:

libraries/SITL/SIM_Calibration.cpp

@@ -24,8 +24,8 @@
 
 #include <stdio.h>
 
-SITL::Calibration::Calibration(const char *home_str, const char *frame_str)
-    : Aircraft(home_str, frame_str)
+SITL::Calibration::Calibration(const char *frame_str)
+    : Aircraft(frame_str)
 {
     mass = 1.5f;
 }

libraries/SITL/SIM_Calibration.h

@@ -64,12 +64,12 @@ namespace SITL {
  */
 class Calibration : public Aircraft {
 public:
-    Calibration(const char *home_str, const char *frame_str);
+    Calibration(const char *frame_str);
 
     void update(const struct sitl_input &input) override;
 
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new Calibration(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new Calibration(frame_str);
     }
 
 private:

libraries/SITL/SIM_FlightAxis.cpp

@@ -82,8 +82,8 @@ static const struct {
 };
 
 
-FlightAxis::FlightAxis(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str)
+FlightAxis::FlightAxis(const char *frame_str) :
+    Aircraft(frame_str)
 {
     use_time_sync = false;
     rate_hz = 250 / target_speedup;

libraries/SITL/SIM_FlightAxis.h

@@ -29,14 +29,14 @@ namespace SITL {
  */
 class FlightAxis : public Aircraft {
 public:
-    FlightAxis(const char *home_str, const char *frame_str);
+    FlightAxis(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new FlightAxis(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new FlightAxis(frame_str);
     }
 
     struct state {

libraries/SITL/SIM_Gazebo.cpp

@@ -27,8 +27,8 @@ extern const AP_HAL::HAL& hal;
 
 namespace SITL {
 
-Gazebo::Gazebo(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str),
+Gazebo::Gazebo(const char *frame_str) :
+    Aircraft(frame_str),
     last_timestamp(0),
     socket_sitl{true}
 {

libraries/SITL/SIM_Gazebo.h

@@ -28,14 +28,14 @@ namespace SITL {
  */
 class Gazebo : public Aircraft {
 public:
-    Gazebo(const char *home_str, const char *frame_str);
+    Gazebo(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new Gazebo(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new Gazebo(frame_str);
     }
 
     /*  Create and set in/out socket for Gazebo simulator */

libraries/SITL/SIM_Helicopter.cpp

@@ -22,8 +22,8 @@
 
 namespace SITL {
 
-Helicopter::Helicopter(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str)
+Helicopter::Helicopter(const char *frame_str) :
+    Aircraft(frame_str)
 {
     mass = 2.13f;
 

libraries/SITL/SIM_Helicopter.h

@@ -27,14 +27,14 @@ namespace SITL {
  */
 class Helicopter : public Aircraft {
 public:
-    Helicopter(const char *home_str, const char *frame_str);
+    Helicopter(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new Helicopter(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new Helicopter(frame_str);
     }
 
 private:

libraries/SITL/SIM_JSBSim.cpp

@@ -36,8 +36,8 @@ namespace SITL {
 
 #define DEBUG_JSBSIM 1
 
-JSBSim::JSBSim(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str),
+JSBSim::JSBSim(const char *frame_str) :
+    Aircraft(frame_str),
     sock_control(false),
     sock_fgfdm(true),
     initialised(false),

libraries/SITL/SIM_JSBSim.h

@@ -29,14 +29,14 @@ namespace SITL {
  */
 class JSBSim : public Aircraft {
 public:
-    JSBSim(const char *home_str, const char *frame_str);
+    JSBSim(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new JSBSim(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new JSBSim(frame_str);
     }
 
 private:

libraries/SITL/SIM_Morse.cpp

@@ -80,8 +80,8 @@ static const struct {
 };
 
 
-Morse::Morse(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str)
+Morse::Morse(const char *frame_str) :
+    Aircraft(frame_str)
 {
     char *saveptr = nullptr;
     char *s = strdup(frame_str);

libraries/SITL/SIM_Morse.h

@@ -28,14 +28,14 @@ namespace SITL {
  */
 class Morse : public Aircraft {
 public:
-    Morse(const char *home_str, const char *frame_str);
+    Morse(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new Morse(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new Morse(frame_str);
     }
 
 private:

libraries/SITL/SIM_Multicopter.cpp

@@ -23,8 +23,8 @@
 
 using namespace SITL;
 
-MultiCopter::MultiCopter(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str),
+MultiCopter::MultiCopter(const char *frame_str) :
+    Aircraft(frame_str),
     frame(nullptr)
 {
     mass = 1.5f;

libraries/SITL/SIM_Multicopter.h

@@ -29,14 +29,14 @@ namespace SITL {
  */
 class MultiCopter : public Aircraft {
 public:
-    MultiCopter(const char *home_str, const char *frame_str);
+    MultiCopter(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new MultiCopter(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new MultiCopter(frame_str);
     }
 
 protected:

libraries/SITL/SIM_Plane.cpp

@@ -23,8 +23,8 @@
 
 using namespace SITL;
 
-Plane::Plane(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str)
+Plane::Plane(const char *frame_str) :
+    Aircraft(frame_str)
 {
     mass = 2.0f;
 

libraries/SITL/SIM_Plane.h

@@ -29,14 +29,14 @@ namespace SITL {
  */
 class Plane : public Aircraft {
 public:
-    Plane(const char *home_str, const char *frame_str);
+    Plane(const char *frame_str);
 
     /* update model by one time step */
     virtual void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new Plane(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new Plane(frame_str);
     }
 
 protected:

libraries/SITL/SIM_QuadPlane.cpp

@@ -22,8 +22,8 @@
 
 using namespace SITL;
 
-QuadPlane::QuadPlane(const char *home_str, const char *frame_str) :
-    Plane(home_str, frame_str)
+QuadPlane::QuadPlane(const char *frame_str) :
+    Plane(frame_str)
 {
     // default to X frame
     const char *frame_type = "x";

libraries/SITL/SIM_QuadPlane.h

@@ -29,14 +29,14 @@ namespace SITL {
  */
 class QuadPlane : public Plane {
 public:
-    QuadPlane(const char *home_str, const char *frame_str);
+    QuadPlane(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new QuadPlane(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new QuadPlane(frame_str);
     }
 private:
     Frame *frame;

libraries/SITL/SIM_Rover.cpp

@@ -23,8 +23,8 @@
 
 namespace SITL {
 
-SimRover::SimRover(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str),
+SimRover::SimRover(const char *frame_str) :
+    Aircraft(frame_str),
     max_speed(20),
     max_accel(10),
     max_wheel_turn(35),

libraries/SITL/SIM_Rover.h

@@ -27,14 +27,14 @@ namespace SITL {
  */
 class SimRover : public Aircraft {
 public:
-    SimRover(const char *home_str, const char *frame_str);
+    SimRover(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new SimRover(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new SimRover(frame_str);
     }
 
 private:

libraries/SITL/SIM_Sailboat.cpp

@@ -38,8 +38,8 @@ namespace SITL {
 #define WAVE_ANGLE_GAIN 1
 #define WAVE_HEAVE_GAIN 1
 
-Sailboat::Sailboat(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str),
+Sailboat::Sailboat(const char *frame_str) :
+    Aircraft(frame_str),
     steering_angle_max(35),
     turning_circle(1.8)
 {

libraries/SITL/SIM_Sailboat.h

@@ -27,14 +27,14 @@ namespace SITL {
  */
 class Sailboat : public Aircraft {
 public:
-    Sailboat(const char *home_str, const char *frame_str);
+    Sailboat(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new Sailboat(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new Sailboat(frame_str);
     }
 
     bool on_ground() const override {return true;};

libraries/SITL/SIM_Scrimmage.cpp

@@ -35,8 +35,8 @@ extern const AP_HAL::HAL& hal;
 
 namespace SITL {
 
-Scrimmage::Scrimmage(const char *home_str, const char *_frame_str) :
-    Aircraft(home_str, _frame_str),
+Scrimmage::Scrimmage(const char *_frame_str) :
+    Aircraft(_frame_str),
     prev_timestamp_us(0),
     recv_sock(true),
     send_sock(true),

libraries/SITL/SIM_Scrimmage.h

@@ -32,14 +32,14 @@ namespace SITL {
  */
 class Scrimmage : public Aircraft {
 public:
-    Scrimmage(const char *home_str, const char *frame_str);
+    Scrimmage(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new Scrimmage(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new Scrimmage(frame_str);
     }
 
     void set_config(const char *config) override;

libraries/SITL/SIM_SilentWings.cpp

@@ -51,8 +51,8 @@ static const struct {
     { "INS_ACCSCAL_Z",     1.001 },
 };
 
-SilentWings::SilentWings(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str),
+SilentWings::SilentWings(const char *frame_str) :
+    Aircraft(frame_str),
     last_data_time_ms(0),
     first_pkt_timestamp_ms(0),
     time_base_us(0),

libraries/SITL/SIM_SilentWings.h

@@ -26,14 +26,14 @@ namespace SITL {
 */
 class SilentWings : public Aircraft {
 public:
-    SilentWings(const char *home_str, const char *frame_str);
+    SilentWings(const char *frame_str);
 
     /* Updates the aircraft model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* Static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new SilentWings(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new SilentWings(frame_str);
     }
 
 private:

libraries/SITL/SIM_SingleCopter.cpp

@@ -22,8 +22,8 @@
 
 using namespace SITL;
 
-SingleCopter::SingleCopter(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str)
+SingleCopter::SingleCopter(const char *frame_str) :
+    Aircraft(frame_str)
 {
     mass = 2.0f;
 

libraries/SITL/SIM_SingleCopter.h

@@ -28,14 +28,14 @@ namespace SITL {
  */
 class SingleCopter : public Aircraft {
 public:
-    SingleCopter(const char *home_str, const char *frame_str);
+    SingleCopter(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new SingleCopter(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new SingleCopter(frame_str);
     }
 
 private:

libraries/SITL/SIM_Submarine.cpp

@@ -35,8 +35,8 @@ static Thruster vectored_thrusters[] =
 
 };
 
-Submarine::Submarine(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str),
+Submarine::Submarine(const char *frame_str) :
+    Aircraft(frame_str),
     frame(NULL)
 {
     frame_height = 0.0;

libraries/SITL/SIM_Submarine.h

@@ -31,14 +31,14 @@ namespace SITL {
 
 class Submarine : public Aircraft {
 public:
-    Submarine(const char *home_str, const char *frame_str);
+    Submarine(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new Submarine(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new Submarine(frame_str);
     }
 
 

libraries/SITL/SIM_Tracker.cpp

@@ -22,8 +22,8 @@
 
 namespace SITL {
 
-Tracker::Tracker(const char *home_str, const char *frame_str) :
-Aircraft(home_str, frame_str)
+Tracker::Tracker(const char *frame_str) :
+Aircraft(frame_str)
 {}
 
 

libraries/SITL/SIM_Tracker.h

@@ -27,12 +27,12 @@ namespace SITL {
  */
 class Tracker : public Aircraft {
 public:
-    Tracker(const char *home_str, const char *frame_str);
+    Tracker(const char *frame_str);
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new Tracker(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new Tracker(frame_str);
     }
 
 private:

libraries/SITL/SIM_XPlane.cpp

@@ -32,8 +32,8 @@ extern const AP_HAL::HAL& hal;
 
 namespace SITL {
 
-XPlane::XPlane(const char *home_str, const char *frame_str) :
-    Aircraft(home_str, frame_str)
+XPlane::XPlane(const char *frame_str) :
+    Aircraft(frame_str)
 {
     use_time_sync = false;
     const char *colon = strchr(frame_str, ':');

libraries/SITL/SIM_XPlane.h

@@ -29,14 +29,14 @@ namespace SITL {
  */
 class XPlane : public Aircraft {
 public:
-    XPlane(const char *home_str, const char *frame_str);
+    XPlane(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new XPlane(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new XPlane(frame_str);
     }
 
 private:

libraries/SITL/SIM_last_letter.cpp

@@ -29,8 +29,8 @@ extern const AP_HAL::HAL& hal;
 
 namespace SITL {
 
-last_letter::last_letter(const char *home_str, const char *_frame_str) :
-    Aircraft(home_str, _frame_str),
+last_letter::last_letter(const char *_frame_str) :
+    Aircraft(_frame_str),
     last_timestamp_us(0),
     sock(true)
 {

libraries/SITL/SIM_last_letter.h

@@ -29,14 +29,14 @@ namespace SITL {
  */
 class last_letter : public Aircraft {
 public:
-    last_letter(const char *home_str, const char *frame_str);
+    last_letter(const char *frame_str);
 
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
     /* static object creator */
-    static Aircraft *create(const char *home_str, const char *frame_str) {
-        return new last_letter(home_str, frame_str);
+    static Aircraft *create(const char *frame_str) {
+        return new last_letter(frame_str);
     }
 
 private: