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AP_Scheduler: update simulation state on embedded

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Peter Barker 2021-10-30 12:15:49 +11:00 committed by Peter Barker
parent e07ddf95b4
commit 26d6c2413b
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_Scheduler/AP_Scheduler.cpp
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@ -27,6 +27,7 @@
#include <AP_InertialSensor/AP_InertialSensor.h> #include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_InternalError/AP_InternalError.h> #include <AP_InternalError/AP_InternalError.h>
#include <AP_Common/ExpandingString.h> #include <AP_Common/ExpandingString.h>
#include <AP_HAL/SIMState.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
#include <SITL/SITL.h> #include <SITL/SITL.h>
@ -400,6 +401,10 @@ void AP_Scheduler::loop()
perf_info.check_loop_time(sample_time_us - _loop_timer_start_us); perf_info.check_loop_time(sample_time_us - _loop_timer_start_us);
_loop_timer_start_us = sample_time_us; _loop_timer_start_us = sample_time_us;
#if AP_SIM_ENABLED && CONFIG_HAL_BOARD != HAL_BOARD_SITL
hal.simstate->update();
#endif
} }
void AP_Scheduler::update_logging() void AP_Scheduler::update_logging()