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AP_HAL_SITL: add simulated frsky support

This commit is contained in:
Peter Barker 2019-12-17 13:21:13 +11:00 committed by Peter Barker
parent da2f60ae95
commit 0c8e6f212d
3 changed files with 46 additions and 1 deletions
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35
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -295,6 +295,26 @@ int SITL_State::sim_fd(const char *name, const char *arg)
} }
nmea = new SITL::RF_NMEA(); nmea = new SITL::RF_NMEA();
return nmea->fd(); return nmea->fd();
} else if (streq(name, "frsky-d")) {
if (frsky_d != nullptr) {
AP_HAL::panic("Only one frsky_d at a time");
}
frsky_d = new SITL::Frsky_D();
return frsky_d->fd();
// } else if (streq(name, "frsky-SPort")) {
// if (frsky_sport != nullptr) {
// AP_HAL::panic("Only one frsky_sport at a time");
// }
// frsky_sport = new SITL::Frsky_SPort();
// return frsky_sport->fd();
// } else if (streq(name, "frsky-SPortPassthrough")) {
// if (frsky_sport_passthrough != nullptr) {
// AP_HAL::panic("Only one frsky_sport passthrough at a time");
// }
// frsky_sport = new SITL::Frsky_SPortPassthrough();
// return frsky_sportpassthrough->fd();
} }
AP_HAL::panic("unknown simulated device: %s", name); AP_HAL::panic("unknown simulated device: %s", name);
@ -366,6 +386,11 @@ int SITL_State::sim_fd_write(const char *name)
AP_HAL::panic("No nmea created"); AP_HAL::panic("No nmea created");
} }
return nmea->write_fd(); return nmea->write_fd();
} else if (streq(name, "frsky-d")) {
if (frsky_d == nullptr) {
AP_HAL::panic("No frsky-d created");
}
return frsky_d->write_fd();
} }
AP_HAL::panic("unknown simulated device: %s", name); AP_HAL::panic("unknown simulated device: %s", name);
} }
@ -540,6 +565,16 @@ void SITL_State::_fdm_input_local(void)
nmea->update(sitl_model->get_range()); nmea->update(sitl_model->get_range());
} }
if (frsky_d != nullptr) {
frsky_d->update();
}
// if (frsky_sport != nullptr) {
// frsky_sport->update();
// }
// if (frsky_sportpassthrough != nullptr) {
// frsky_sportpassthrough->update();
// }
if (_sitl) { if (_sitl) {
_sitl->efi_ms.update(); _sitl->efi_ms.update();
} }

10
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -36,6 +36,11 @@
#include <SITL/SIM_RF_MaxsonarSerialLV.h> #include <SITL/SIM_RF_MaxsonarSerialLV.h>
#include <SITL/SIM_RF_Wasp.h> #include <SITL/SIM_RF_Wasp.h>
#include <SITL/SIM_RF_NMEA.h> #include <SITL/SIM_RF_NMEA.h>
#include <SITL/SIM_Frsky_D.h>
// #include <SITL/SIM_Frsky_SPort.h>
// #include <SITL/SIM_Frsky_SPortPassthrough.h>
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket.h>
class HAL_SITL; class HAL_SITL;
@ -262,6 +267,11 @@ private:
// simulated NMEA rangefinder: // simulated NMEA rangefinder:
SITL::RF_NMEA *nmea; SITL::RF_NMEA *nmea;
// simulated Frsky devices
SITL::Frsky_D *frsky_d;
// SITL::Frsky_SPort *frsky_sport;
// SITL::Frsky_SPortPassthrough *frsky_sportpassthrough;
// output socket for flightgear viewing // output socket for flightgear viewing
SocketAPM fg_socket{true}; SocketAPM fg_socket{true};

2
libraries/AP_HAL_SITL/UARTDriver.cpp
View File

@ -209,7 +209,7 @@ size_t UARTDriver::write(const uint8_t *buffer, size_t size)
if (nwritten == -1 && errno != EAGAIN && _uart_path) { if (nwritten == -1 && errno != EAGAIN && _uart_path) {
if (_fd_write != -1) { if (_fd_write != -1) {
close(_fd_write); close(_fd_write);
_fd_write = 1; _fd_write = -1;
} }
close(_fd); close(_fd);
_fd = -1; _fd = -1;