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HAL_SITL: support direct RC input

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This commit is contained in:
Andrew Tridgell 2015-05-02 21:54:19 +10:00
parent 77f007ab27
commit 25de563687
1 changed files with 11 additions and 0 deletions
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11
libraries/AP_HAL_AVR_SITL/SITL_State.cpp
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@ -445,10 +445,21 @@ void SITL_State::_fdm_input_local(void)
{ {
Aircraft::sitl_input input; Aircraft::sitl_input input;
// check for direct RC input
_fdm_input();
// construct servos structure for FDM
_simulator_servos(input); _simulator_servos(input);
// update the model
sitl_model->update(input); sitl_model->update(input);
// get FDM output from the model
sitl_model->fill_fdm(_sitl->state); sitl_model->fill_fdm(_sitl->state);
// update simulation time
hal.scheduler->stop_clock(_sitl->state.timestamp_us); hal.scheduler->stop_clock(_sitl->state.timestamp_us);
_synthetic_clock_mode = true; _synthetic_clock_mode = true;
_update_count++; _update_count++;
} }