#!/bin/sh
# shellcheck disable=SC2154

# EKF2 specifics
param set-default EKF2_GPS_DELAY 10
param set-default EKF2_MULTI_IMU 3
param set-default SENS_IMU_MODE 0

simulator_tcp_port=$((4560+px4_instance))

# Check if PX4_SIM_HOSTNAME environment variable is empty
# If empty check if PX4_SIM_HOST_ADDR environment variable is empty
# If both are empty use localhost for simulator
if [ -z "${PX4_SIM_HOSTNAME}" ]; then

	if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
		echo "INFO  [init] PX4_SIM_HOSTNAME: localhost"
		simulator_mavlink start -c $simulator_tcp_port
	else
		echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOST_ADDR}"
		simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
	fi

else
	echo "INFO  [init] PX4_SIM_HOSTNAME: ${PX4_SIM_HOSTNAME}"
	simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
fi