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AP_HAL_SITL: add simulated GY-US42-v2 rangefinder

This commit is contained in:
Peter Barker 2020-06-15 09:36:08 +10:00 committed by Peter Barker
parent 6ec497229b
commit 0b431f3ecd
2 changed files with 17 additions and 0 deletions
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14
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -351,6 +351,12 @@ int SITL_State::sim_fd(const char *name, const char *arg)
} else if (streq(name, "richenpower")) {
sitl_model->set_richenpower(&_sitl->richenpower_sim);
return _sitl->richenpower_sim.fd();
} else if (streq(name, "gyus42v2")) {
if (gyus42v2 != nullptr) {
AP_HAL::panic("Only one gyus42v2 at a time");
}
gyus42v2 = new SITL::RF_GYUS42v2();
return gyus42v2->fd();
}
AP_HAL::panic("unknown simulated device: %s", name);
@ -444,6 +450,11 @@ int SITL_State::sim_fd_write(const char *name)
return rplidara2->write_fd();
} else if (streq(name, "richenpower")) {
return _sitl->richenpower_sim.write_fd();
} else if (streq(name, "gyus42v2")) {
if (gyus42v2 == nullptr) {
AP_HAL::panic("No gyus42v2 created");
}
return gyus42v2->write_fd();
}
AP_HAL::panic("unknown simulated device: %s", name);
}
@ -624,6 +635,9 @@ void SITL_State::_fdm_input_local(void)
if (rf_mavlink != nullptr) {
rf_mavlink->update(sitl_model->get_range());
}
if (gyus42v2 != nullptr) {
gyus42v2->update(sitl_model->get_range());
}
if (frsky_d != nullptr) {
frsky_d->update();

3
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -38,6 +38,7 @@
#include <SITL/SIM_RF_Wasp.h>
#include <SITL/SIM_RF_NMEA.h>
#include <SITL/SIM_RF_MAVLink.h>
#include <SITL/SIM_RF_GYUS42v2.h>
#include <SITL/SIM_Frsky_D.h>
// #include <SITL/SIM_Frsky_SPort.h>
@ -273,6 +274,8 @@ private:
SITL::RF_NMEA *nmea;
// simulated MAVLink rangefinder:
SITL::RF_MAVLink *rf_mavlink;
// simulated GYUS42v2 rangefinder:
SITL::RF_GYUS42v2 *gyus42v2;
// simulated Frsky devices
SITL::Frsky_D *frsky_d;