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AP_HAL_SITL: allow testing of throttle-goes-to-low-fixed-value rc failsafes

This commit is contained in:
Peter Barker 2018-07-31 20:24:18 +10:00 committed by Peter Barker
parent 44bc035f7b
commit 17589ae3b9
1 changed files with 15 additions and 6 deletions
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21
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -161,7 +161,7 @@ void SITL_State::_fdm_input_step(void)
}
// simulate RC input at 50Hz
if (AP_HAL::millis() - last_pwm_input >= 20 && _sitl->rc_fail == 0) {
if (AP_HAL::millis() - last_pwm_input >= 20 && _sitl->rc_fail != SITL::SITL::SITL_RCFail_NoPulses) {
last_pwm_input = AP_HAL::millis();
new_rc_input = true;
}
@ -239,15 +239,24 @@ void SITL_State::_check_rc_input(void)
case 8*2:
case 16*2: {
// a packet giving the receiver PWM inputs
uint8_t i;
for (i=0; i<size/2; i++) {
for (uint8_t i=0; i<size/2; i++) {
// setup the pwm input for the RC channel inputs
if (i < _sitl->state.rcin_chan_count) {
// we're using rc from simulator
continue;
}
if (pwm_pkt.pwm[i] != 0) {
pwm_input[i] = pwm_pkt.pwm[i];
uint16_t pwm = pwm_pkt.pwm[i];
if (pwm != 0) {
if (_sitl->rc_fail == SITL::SITL::SITL_RCFail_Throttle950) {
if (i == 2) {
// set throttle (assumed to be on channel 3...)
pwm = 950;
} else {
// centre all other inputs
pwm = 1500;
}
}
pwm_input[i] = pwm;
}
}
break;
@ -311,7 +320,7 @@ void SITL_State::_fdm_input_local(void)
sitl_model->fill_fdm(_sitl->state);
_sitl->update_rate_hz = sitl_model->get_rate_hz();
if (_sitl->rc_fail == 0) {
if (_sitl->rc_fail == SITL::SITL::SITL_RCFail_None) {
for (uint8_t i=0; i< _sitl->state.rcin_chan_count; i++) {
pwm_input[i] = 1000 + _sitl->state.rcin[i]*1000;
}