Gazebo-classic: add define for development.xml

julianoes · julianoes · commit 0641a9937940 · 2025-11-10T12:18:48.000+13:00
diff --git a/Tools/simulation/gazebo-classic/sitl_gazebo-classic b/Tools/simulation/gazebo-classic/sitl_gazebo-classic
@@ -1 +1 @@
-Subproject commit 174382c09351561d59b70a8dc9ac2b881995eb93
+Subproject commit f3bf227dcf8a17fadc9a159dad332f49055c7ac7
diff --git a/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake b/src/modules/simulation/simulator_mavlink/sitl_targets_gazebo-classic.cmake
@@ -44,12 +44,20 @@ if(gazebo_FOUND)
 	# project to build sitl_gazebo if necessary
 	px4_add_git_submodule(TARGET git_sitl_gazebo-classic PATH "${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic")
 	include(ExternalProject)
+
+	# Set MAVLINK_DEVELOPMENT if using development dialect
+	set(GAZEBO_MAVLINK_ARGS)
+	if(CONFIG_MAVLINK_DIALECT STREQUAL "development")
+		list(APPEND GAZEBO_MAVLINK_ARGS -DMAVLINK_DEVELOPMENT=1)
+	endif()
+
 	ExternalProject_Add(sitl_gazebo-classic
 		SOURCE_DIR ${PX4_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
 		CMAKE_ARGS
 			-DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
 			-DSEND_ODOMETRY_DATA=ON
 			-DGENERATE_ROS_MODELS=ON
+			${GAZEBO_MAVLINK_ARGS}
 		BINARY_DIR ${PX4_BINARY_DIR}/build_gazebo-classic
 		INSTALL_COMMAND ""
 		DEPENDS git_sitl_gazebo-classic
