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AP_HAL_SITL: add simulated mavlink-attached rangefinder

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This commit is contained in:
Peter Barker 2020-04-21 13:29:11 +10:00 committed by Peter Barker
parent 6be519fb0d
commit 185bc68476
2 changed files with 18 additions and 0 deletions
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15
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -310,6 +310,13 @@ 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, "rf_mavlink")) {
if (wasp != nullptr) {
AP_HAL::panic("Only one rf_mavlink at a time");
}
rf_mavlink = new SITL::RF_MAVLink();
return rf_mavlink->fd();
} else if (streq(name, "frsky-d")) { } else if (streq(name, "frsky-d")) {
if (frsky_d != nullptr) { if (frsky_d != nullptr) {
AP_HAL::panic("Only one frsky_d at a time"); AP_HAL::panic("Only one frsky_d at a time");
@ -400,6 +407,11 @@ 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, "rf_mavlink")) {
if (rf_mavlink == nullptr) {
AP_HAL::panic("No rf_mavlink created");
}
return rf_mavlink->write_fd();
} else if (streq(name, "frsky-d")) { } else if (streq(name, "frsky-d")) {
if (frsky_d == nullptr) { if (frsky_d == nullptr) {
AP_HAL::panic("No frsky-d created"); AP_HAL::panic("No frsky-d created");
@ -578,6 +590,9 @@ void SITL_State::_fdm_input_local(void)
if (nmea != nullptr) { if (nmea != nullptr) {
nmea->update(sitl_model->get_range()); nmea->update(sitl_model->get_range());
} }
if (rf_mavlink != nullptr) {
rf_mavlink->update(sitl_model->get_range());
}
if (frsky_d != nullptr) { if (frsky_d != nullptr) {
frsky_d->update(); frsky_d->update();

3
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -36,6 +36,7 @@
#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_RF_MAVLink.h>
#include <SITL/SIM_Frsky_D.h> #include <SITL/SIM_Frsky_D.h>
// #include <SITL/SIM_Frsky_SPort.h> // #include <SITL/SIM_Frsky_SPort.h>
@ -265,6 +266,8 @@ private:
SITL::RF_Wasp *wasp; SITL::RF_Wasp *wasp;
// simulated NMEA rangefinder: // simulated NMEA rangefinder:
SITL::RF_NMEA *nmea; SITL::RF_NMEA *nmea;
// simulated MAVLink rangefinder:
SITL::RF_MAVLink *rf_mavlink;
// simulated Frsky devices // simulated Frsky devices
SITL::Frsky_D *frsky_d; SITL::Frsky_D *frsky_d;