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HAL_SITL: SITL weight on wheels

This commit is contained in:
Eugene Shamaev 2018-06-10 09:33:38 +03:00 committed by Andrew Tridgell
parent 0536a3c4c6
commit 3794f9d51e
1 changed files with 13 additions and 0 deletions
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13
libraries/AP_HAL_SITL/GPIO.cpp
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@ -5,6 +5,8 @@ using namespace HALSITL;
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#define SITL_WOW_ALTITUDE 0.01
void GPIO::init() void GPIO::init()
{} {}
@ -16,6 +18,12 @@ uint8_t GPIO::read(uint8_t pin)
if (!_sitlState->_sitl) { if (!_sitlState->_sitl) {
return 0; return 0;
} }
// weight on wheels pin support
if (pin == _sitlState->_sitl->wow_pin.get()) {
return _sitlState->_sitl->state.altitude < SITL_WOW_ALTITUDE ? 1 : 0;
}
uint16_t mask = static_cast<uint16_t>(_sitlState->_sitl->pin_mask.get()); uint16_t mask = static_cast<uint16_t>(_sitlState->_sitl->pin_mask.get());
return static_cast<uint16_t>((mask & (1U << pin)) ? 1 : 0); return static_cast<uint16_t>((mask & (1U << pin)) ? 1 : 0);
} }
@ -27,6 +35,11 @@ void GPIO::write(uint8_t pin, uint8_t value)
} }
uint16_t mask = static_cast<uint16_t>(_sitlState->_sitl->pin_mask.get()); uint16_t mask = static_cast<uint16_t>(_sitlState->_sitl->pin_mask.get());
uint16_t new_mask = mask; uint16_t new_mask = mask;
if (pin == _sitlState->_sitl->wow_pin.get()) {
return;
}
if (value) { if (value) {
new_mask |= (1U << pin); new_mask |= (1U << pin);
} else { } else {