AP_RPM: added a SITL RPM backend

libraries/AP_RPM/AP_RPM.cpp

@@ -16,6 +16,7 @@
 
 #include "AP_RPM.h"
 #include "RPM_PX4_PWM.h"
+#include "RPM_SITL.h"
 
 extern const AP_HAL::HAL& hal;
 
@@ -84,6 +85,11 @@ void AP_RPM::init(void)
             state[instance].instance = instance;
             drivers[instance] = new AP_RPM_PX4_PWM(*this, instance, state[instance]);
         }
+#endif
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+        uint8_t instance = num_instances;
+        state[instance].instance = instance;
+        drivers[instance] = new AP_RPM_SITL(*this, instance, state[instance]);
 #endif
         if (drivers[i] != NULL) {
             // we loaded a driver for this instance, so it must be

libraries/AP_RPM/RPM_SITL.cpp

@@ -0,0 +1,47 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <AP_HAL/AP_HAL.h>
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+#include "RPM_SITL.h"
+
+extern const AP_HAL::HAL& hal;
+
+/* 
+   open the sensor in constructor
+*/
+AP_RPM_SITL::AP_RPM_SITL(AP_RPM &_ap_rpm, uint8_t _instance, AP_RPM::RPM_State &_state) :
+	AP_RPM_Backend(_ap_rpm, instance, _state)
+{
+    sitl = (SITL::SITL *)AP_Param::find_object("SIM_");
+    instance = _instance;
+}
+
+void AP_RPM_SITL::update(void)
+{
+    if (sitl == nullptr) {
+        return;
+    }
+    if (instance == 0) {
+        state.rate_rpm = sitl->state.rpm1;
+    } else {
+        state.rate_rpm = sitl->state.rpm2;
+    }
+    state.last_reading_ms = AP_HAL::millis();
+}
+
+#endif // CONFIG_HAL_BOARD

libraries/AP_RPM/RPM_SITL.h

@@ -0,0 +1,40 @@
+// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+ 
+#ifndef AP_RPM_SITL_H
+#define AP_RPM_SITL_H
+
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+
+#include "AP_RPM.h"
+#include "RPM_Backend.h"
+#include <SITL/SITL.h>
+
+class AP_RPM_SITL : public AP_RPM_Backend
+{
+public:
+    // constructor
+    AP_RPM_SITL(AP_RPM &ranger, uint8_t instance, AP_RPM::RPM_State &_state);
+
+    // update state
+    void update(void);
+private:
+    SITL::SITL *sitl;    
+    uint8_t instance;
+};
+
+#endif // CONFIG_HAL_BOARD
+#endif // AP_RPM_SITL_H