#!/bin/bash

set -e
set -x

if [ $# -eq 1 ]; then
    frame="$1"
    target="sitl-$frame"
else
    frame="+"
    target="sitl"
fi

case $frame in
    +,X,quad)
	target="sitl"
	;;
    octa)
	target="sitl-octa"
	;;
esac

echo "Building with target $target for frame $frame"

autotest=$(dirname $(readlink -e $0))
pushd $autotest/../../ArduCopter
make clean $target

tfile=$(tempfile)
echo r > $tfile
gnome-terminal -e "gdb -x $tfile --args /tmp/ArduCopter.build/ArduCopter.elf"
#gnome-terminal -e "valgrind -q /tmp/ArduCopter.build/ArduCopter.elf"
sleep 2
rm -f $tfile
gnome-terminal -e "../Tools/autotest/pysim/sim_multicopter.py --frame=$frame --home=-35.362938,149.165085,584,270"
sleep 2
popd
mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551 --quadcopter
