Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-07 08:23:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

SITL: added RC input from FlightAxis

Browse Source 
use the interlink controller for input for 6 channels
This commit is contained in:
Andrew Tridgell 2016-05-04 12:49:42 +10:00
parent 3897e03d39
commit 3b0cd9f101
5 changed files with 28 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/SITL/SIM_Aircraft.cpp
View File

@ -296,6 +296,8 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm) const
fdm.battery_current = battery_current;
fdm.rpm1 = rpm1;
fdm.rpm2 = rpm2;
fdm.rcin_chan_count = rcin_chan_count;
memcpy(fdm.rcin, rcin, rcin_chan_count*sizeof(float));
}
uint64_t Aircraft::get_wall_time_us() const

2
libraries/SITL/SIM_Aircraft.h
View File

@ -119,6 +119,8 @@ protected:
float battery_current = 0;
float rpm1 = 0;
float rpm2 = 0;
uint8_t rcin_chan_count = 0;
float rcin[8];
uint64_t time_now_us;

15
libraries/SITL/SIM_FlightAxis.cpp
View File

@ -66,8 +66,11 @@ void FlightAxis::parse_reply(const char *reply)
}
p += strlen(keytable[i].key) + 1;
keytable[i].ref = atof(p);
// this assumes key order
reply = p;
// this assumes key order and allows us to decode arrays
p = strchr(p, '>');
if (p != nullptr) {
reply = p;
}
}
}
@ -296,6 +299,14 @@ void FlightAxis::update(const struct sitl_input &input)
battery_current = state.m_batteryCurrentDraw_AMPS;
rpm1 = state.m_propRPM;
rpm2 = state.m_heliMainRotorRPM;
/*
the interlink interface doesn't seem to support more than 6 channels
*/
for (uint8_t i=0; i<6; i++) {
rcin[i] = state.rcin[i];
}
rcin_chan_count = 6;
update_position();
time_now_us = (state.m_currentPhysicsTime_SEC - initial_time_s)*1.0e6;

9
libraries/SITL/SIM_FlightAxis.h
View File

@ -41,6 +41,7 @@ public:
}
struct state {
double rcin[8];
double m_airspeed_MPS;
double m_altitudeASL_MTR;
double m_altitudeAGL_MTR;
@ -94,6 +95,14 @@ public:
const char *key;
double &ref;
} keytable[num_keys] = {
{ "item", state.rcin[0] },
{ "item", state.rcin[1] },
{ "item", state.rcin[2] },
{ "item", state.rcin[3] },
{ "item", state.rcin[4] },
{ "item", state.rcin[5] },
{ "item", state.rcin[6] },
{ "item", state.rcin[7] },
{ "m-airspeed-MPS", state.m_airspeed_MPS },
{ "m-altitudeASL-MTR", state.m_altitudeASL_MTR },
{ "m-altitudeAGL-MTR", state.m_altitudeAGL_MTR },

2
libraries/SITL/SITL.h
View File

@ -23,6 +23,8 @@ struct sitl_fdm {
double battery_current; // Amps
double rpm1; // main prop RPM
double rpm2; // secondary RPM
uint8_t rcin_chan_count;
float rcin[8]; // RC input 0..1
};
// number of rc output channels