From 234534d9f4f639f18886cfbe04bb7742d3b2c4be Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 18 Aug 2022 19:00:36 +1000
Subject: [PATCH] SITL: allow for extra actuators to be marked as motors

---
 libraries/SITL/SIM_Aircraft.cpp | 2 +-
 libraries/SITL/SITL.cpp         | 3 +++
 libraries/SITL/SITL.h           | 3 +++
 3 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp
index 013799b02d..0434abd3c5 100644
--- a/libraries/SITL/SIM_Aircraft.cpp
+++ b/libraries/SITL/SIM_Aircraft.cpp
@@ -390,7 +390,7 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
     fdm.velocity_air_bf = velocity_air_bf;
     fdm.battery_voltage = battery_voltage;
     fdm.battery_current = battery_current;
-    fdm.motor_mask = motor_mask;
+    fdm.motor_mask = motor_mask | sitl->vibe_motor_mask;
     memcpy(fdm.rpm, rpm, sizeof(fdm.rpm));
     fdm.rcin_chan_count = rcin_chan_count;
     fdm.range = rangefinder_range();
diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp
index b9cbdb54b3..820661c94d 100644
--- a/libraries/SITL/SITL.cpp
+++ b/libraries/SITL/SITL.cpp
@@ -174,6 +174,9 @@ const AP_Param::GroupInfo SIM::var_info2[] = {
     // motor harmonics
     AP_GROUPINFO("VIB_MOT_HMNC", 60, SIM,  vibe_motor_harmonics, 1),
 
+    // motor mask, allowing external simulators to mark motors
+    AP_GROUPINFO("VIB_MOT_MASK", 5, SIM,  vibe_motor_mask, 0),
+    
     // max motor vibration frequency
     AP_GROUPINFO("VIB_MOT_MAX", 61, SIM,  vibe_motor, 0.0f),
     // minimum throttle for simulated ins noise
diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h
index a0aa4f9f22..b2a39a3f87 100644
--- a/libraries/SITL/SITL.h
+++ b/libraries/SITL/SITL.h
@@ -337,6 +337,9 @@ public:
     // what harmonics to generate
     AP_Int16 vibe_motor_harmonics;
 
+    // what servos are motors
+    AP_Int32 vibe_motor_mask;
+    
     // minimum throttle for addition of ins noise
     AP_Float ins_noise_throttle_min;