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SITL: enable the SIM_* parameters in ArduCopter and ArduPlane

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This commit is contained in:
Andrew Tridgell 2012-06-29 15:10:35 +10:00
parent 117bae9585
commit 1cb96e14a9
8 changed files with 21 additions and 38 deletions
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2
ArduCopter/ArduCopter.pde
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@ -186,6 +186,8 @@ static AP_Int8 *flight_modes = &g.flight_mode1;
#ifdef DESKTOP_BUILD #ifdef DESKTOP_BUILD
AP_Baro_BMP085_HIL barometer; AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass; AP_Compass_HIL compass;
#include <SITL.h>
SITL sitl;
#else #else
#if CONFIG_BARO == AP_BARO_BMP085 #if CONFIG_BARO == AP_BARO_BMP085

18
ArduCopter/GCS_Mavlink.pde
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@ -280,26 +280,10 @@ static void NOINLINE send_ahrs(mavlink_channel_t chan)
#endif // HIL_MODE != HIL_MODE_ATTITUDE #endif // HIL_MODE != HIL_MODE_ATTITUDE
#ifdef DESKTOP_BUILD #ifdef DESKTOP_BUILD
void mavlink_simstate_send(uint8_t chan,
float roll,
float pitch,
float yaw,
float xAcc,
float yAcc,
float zAcc,
float p,
float q,
float r)
{
mavlink_msg_simstate_send((mavlink_channel_t)chan,
roll, pitch, yaw, xAcc, yAcc, zAcc, p, q, r);
}
// report simulator state // report simulator state
static void NOINLINE send_simstate(mavlink_channel_t chan) static void NOINLINE send_simstate(mavlink_channel_t chan)
{ {
extern void sitl_simstate_send(uint8_t chan); sitl.simstate_send(chan);
sitl_simstate_send((uint8_t)chan);
} }
#endif #endif

4
ArduCopter/Parameters.h
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@ -51,13 +51,14 @@ public:
k_param_format_version = 0, k_param_format_version = 0,
k_param_software_type, k_param_software_type,
// simulation
k_param_sitl = 10,
// Misc // Misc
// //
k_param_log_bitmask = 20, k_param_log_bitmask = 20,
k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change k_param_log_last_filenumber, // *** Deprecated - remove with next eeprom number change
#if FRAME_CONFIG == HELI_FRAME
// //
// 80: Heli // 80: Heli
// //
@ -65,7 +66,6 @@ public:
k_param_heli_servo_2, k_param_heli_servo_2,
k_param_heli_servo_3, k_param_heli_servo_3,
k_param_heli_servo_4, k_param_heli_servo_4,
#endif
// //
// 90: Motors // 90: Motors

4
ArduCopter/Parameters.pde
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@ -227,6 +227,10 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp // @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp
GOBJECT(ahrs, "AHRS_", AP_AHRS), GOBJECT(ahrs, "AHRS_", AP_AHRS),
#ifdef DESKTOP_BUILD
GOBJECT(sitl, "SIM_", SITL),
#endif
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
// @Group: H_ // @Group: H_
// @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp // @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp

2
ArduPlane/ArduPlane.pde
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@ -150,6 +150,8 @@ static AP_ADC_ADS7844 adc;
#ifdef DESKTOP_BUILD #ifdef DESKTOP_BUILD
AP_Baro_BMP085_HIL barometer; AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass; AP_Compass_HIL compass;
#include <SITL.h>
SITL sitl;
#else #else
#if CONFIG_BARO == AP_BARO_BMP085 #if CONFIG_BARO == AP_BARO_BMP085

18
ArduPlane/GCS_Mavlink.pde
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@ -501,26 +501,10 @@ static void NOINLINE send_ahrs(mavlink_channel_t chan)
#endif // HIL_MODE != HIL_MODE_ATTITUDE #endif // HIL_MODE != HIL_MODE_ATTITUDE
#ifdef DESKTOP_BUILD #ifdef DESKTOP_BUILD
void mavlink_simstate_send(uint8_t chan,
float roll,
float pitch,
float yaw,
float xAcc,
float yAcc,
float zAcc,
float p,
float q,
float r)
{
mavlink_msg_simstate_send((mavlink_channel_t)chan,
roll, pitch, yaw, xAcc, yAcc, zAcc, p, q, r);
}
// report simulator state // report simulator state
static void NOINLINE send_simstate(mavlink_channel_t chan) static void NOINLINE send_simstate(mavlink_channel_t chan)
{ {
extern void sitl_simstate_send(uint8_t chan); sitl.simstate_send(chan);
sitl_simstate_send((uint8_t)chan);
} }
#endif #endif

4
ArduPlane/Parameters.h
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@ -70,7 +70,6 @@ public:
k_param_reset_switch_chan, k_param_reset_switch_chan,
k_param_manual_level, k_param_manual_level,
// 110: Telemetry control // 110: Telemetry control
// //
k_param_gcs0 = 110, // stream rates for port0 k_param_gcs0 = 110, // stream rates for port0
@ -185,6 +184,9 @@ public:
k_param_fence_minalt, k_param_fence_minalt,
k_param_fence_maxalt, k_param_fence_maxalt,
// simulator control
k_param_sitl = 230,
// //
// 240: PID Controllers // 240: PID Controllers
// //

7
ArduPlane/Parameters.pde
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@ -326,7 +326,12 @@ static const AP_Param::Info var_info[] PROGMEM = {
// @Group: AHRS_ // @Group: AHRS_
// @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp // @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp
GOBJECT(ahrs, "AHRS_", AP_AHRS) GOBJECT(ahrs, "AHRS_", AP_AHRS),
#ifdef DESKTOP_BUILD
// @Group: SITL
GOBJECT(sitl, "SIM_", SITL),
#endif
}; };