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SITL: support for virtual hardware safety switch

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This commit is contained in:
Peter Barker 2019-11-25 18:02:33 +11:00 committed by Andrew Tridgell
parent 907977b2f2
commit 326ba5b974
2 changed files with 15 additions and 0 deletions
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2
libraries/SITL/SITL.cpp
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@ -200,6 +200,8 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
AP_GROUPINFO("EFI_TYPE", 58, SITL, efi_type, SITL::EFI_TYPE_NONE), AP_GROUPINFO("EFI_TYPE", 58, SITL, efi_type, SITL::EFI_TYPE_NONE),
AP_GROUPINFO("SAFETY_STATE", 59, SITL, _safety_switch_state, 0),
AP_GROUPEND AP_GROUPEND
}; };

13
libraries/SITL/SITL.h
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@ -292,6 +292,19 @@ public:
AP_Float hdg; // 0 to 360 AP_Float hdg; // 0 to 360
} opos; } opos;
AP_Int8 _safety_switch_state;
AP_HAL::Util::safety_state safety_switch_state() const {
return (AP_HAL::Util::safety_state)_safety_switch_state.get();
}
void force_safety_off() {
_safety_switch_state = (uint8_t)AP_HAL::Util::SAFETY_ARMED;
}
bool force_safety_on() {
_safety_switch_state = (uint8_t)AP_HAL::Util::SAFETY_DISARMED;
return true;
}
uint16_t irlock_port; uint16_t irlock_port;
void simstate_send(mavlink_channel_t chan); void simstate_send(mavlink_channel_t chan);