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SITL: correct adsb initialisation

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Parameters have not yet been initialised in _sitl_setup, so move
should-run checks into update
This commit is contained in:
Peter Barker 2016-06-21 11:00:36 +10:00 committed by Tom Pittenger
parent 569443231a
commit 309ac53806
2 changed files with 13 additions and 4 deletions
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15
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -63,6 +63,8 @@ void SITL_State::_set_param_default(const char *parm)
*/
void SITL_State::_sitl_setup(const char *home_str)
{
_home_str = home_str;
#ifndef __CYGWIN__
_parent_pid = getppid();
#endif
@ -97,10 +99,6 @@ void SITL_State::_sitl_setup(const char *home_str)
gimbal = new SITL::Gimbal(_sitl->state);
}
if (_sitl->adsb_plane_count >= 0) {
adsb = new SITL::ADSB(_sitl->state, home_str);
}
fg_socket.connect("127.0.0.1", 5503);
}
@ -173,6 +171,15 @@ void SITL_State::_fdm_input_step(void)
_update_barometer(_sitl->state.altitude);
_update_compass(_sitl->state.rollDeg, _sitl->state.pitchDeg, _sitl->state.yawDeg);
_update_flow();
if (_sitl->adsb_plane_count >= 0 &&
adsb == nullptr) {
adsb = new SITL::ADSB(_sitl->state, _home_str);
} else if (_sitl->adsb_plane_count == -1 &&
adsb != nullptr) {
delete adsb;
adsb = nullptr;
}
}
// trigger all APM timers.

2
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -222,6 +222,8 @@ private:
const char *_client_address;
const char *defaults_path = HAL_PARAM_DEFAULTS_PATH;
const char *_home_str;
};
#endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL