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SITL: added SIM_GPS_LOG_NUM

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for replaying GPS logs recorded with --enable-gps-logging
This commit is contained in:
Andrew Tridgell 2022-12-19 08:01:41 +11:00
parent 761e4a05e2
commit 01cad1c4aa
3 changed files with 6 additions and 1 deletions
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2
libraries/SITL/SIM_GPS.cpp
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@ -1023,7 +1023,7 @@ void GPS::update_file()
{
static int fd[2] = {-1,-1};
static uint32_t base_time[2];
const uint16_t lognum = 9;
const uint16_t lognum = uint16_t(_sitl->gps_log_num.get());
if (instance > 1) {
return;
}

2
libraries/SITL/SITL.cpp
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@ -376,6 +376,8 @@ const AP_Param::GroupInfo SIM::var_gps[] = {
AP_GROUPINFO("INIT_LON_OFS", 46, SIM, gps_init_lon_ofs, 0),
AP_GROUPINFO("INIT_ALT_OFS", 47, SIM, gps_init_alt_ofs, 0),
AP_GROUPINFO("GPS_LOG_NUM", 48, SIM, gps_log_num, 0),
AP_GROUPEND
};
#endif // HAL_SIM_GPS_ENABLED

3
libraries/SITL/SITL.h
View File

@ -209,6 +209,9 @@ public:
AP_Float gps_init_lon_ofs;
AP_Float gps_init_alt_ofs;
// log number for GPS::update_file()
AP_Int16 gps_log_num;
AP_Float batt_voltage; // battery voltage base
AP_Float batt_capacity_ah; // battery capacity in Ah
AP_Int8 rc_fail; // fail RC input