Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

SITL: split to MicroStrain5 

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2023-08-27 20:24:17 -06:00 committed by Andrew Tridgell
parent fd3a1d448a
commit 461a8dc86f
2 changed files with 12 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
libraries/SITL/SIM_MicroStrain.cpp
View File

@ -24,7 +24,7 @@
using namespace SITL;
MicroStrain::MicroStrain() :SerialDevice::SerialDevice()
MicroStrain5::MicroStrain5() :SerialDevice::SerialDevice()
{
}
@ -48,7 +48,7 @@ static void simulation_timeval(struct timeval *tv)
tv->tv_usec = new_usec % 1000000ULL;
}
void MicroStrain::generate_checksum(MicroStrain_Packet& packet)
void MicroStrain5::generate_checksum(MicroStrain_Packet& packet)
{
uint8_t checksumByte1 = 0;
uint8_t checksumByte2 = 0;
@ -67,7 +67,7 @@ void MicroStrain::generate_checksum(MicroStrain_Packet& packet)
packet.checksum[1] = checksumByte2;
}
void MicroStrain::send_packet(MicroStrain_Packet packet)
void MicroStrain5::send_packet(MicroStrain_Packet packet)
{
generate_checksum(packet);
@ -77,7 +77,7 @@ void MicroStrain::send_packet(MicroStrain_Packet packet)
}
void MicroStrain::send_imu_packet(void)
void MicroStrain5::send_imu_packet(void)
{
const auto &fdm = _sitl->state;
MicroStrain_Packet packet;
@ -136,7 +136,7 @@ void MicroStrain::send_imu_packet(void)
}
void MicroStrain::send_gnss_packet(void)
void MicroStrain5::send_gnss_packet(void)
{
const auto &fdm = _sitl->state;
MicroStrain_Packet packet;
@ -205,7 +205,7 @@ void MicroStrain::send_gnss_packet(void)
send_packet(packet);
}
void MicroStrain::send_filter_packet(void)
void MicroStrain5::send_filter_packet(void)
{
const auto &fdm = _sitl->state;
MicroStrain_Packet packet;
@ -256,7 +256,7 @@ void MicroStrain::send_filter_packet(void)
/*
send MicroStrain data
*/
void MicroStrain::update(void)
void MicroStrain5::update(void)
{
if (!init_sitl_pointer()) {
return;
@ -283,7 +283,7 @@ void MicroStrain::update(void)
}
}
void MicroStrain::put_float(MicroStrain_Packet &packet, float f)
void MicroStrain5::put_float(MicroStrain_Packet &packet, float f)
{
uint32_t fbits = 0;
memcpy(&fbits, &f, sizeof(fbits));
@ -291,7 +291,7 @@ void MicroStrain::put_float(MicroStrain_Packet &packet, float f)
packet.payload_size += sizeof(float);
}
void MicroStrain::put_double(MicroStrain_Packet &packet, double d)
void MicroStrain5::put_double(MicroStrain_Packet &packet, double d)
{
uint64_t dbits = 0;
memcpy(&dbits, &d, sizeof(dbits));
@ -299,7 +299,7 @@ void MicroStrain::put_double(MicroStrain_Packet &packet, double d)
packet.payload_size += sizeof(double);
}
void MicroStrain::put_int(MicroStrain_Packet &packet, uint16_t t)
void MicroStrain5::put_int(MicroStrain_Packet &packet, uint16_t t)
{
put_be16_ptr(&packet.payload[packet.payload_size], t);
packet.payload_size += sizeof(uint16_t);

4
libraries/SITL/SIM_MicroStrain.h
View File

@ -17,11 +17,11 @@
namespace SITL
{
class MicroStrain : public SerialDevice
class MicroStrain5 : public SerialDevice
{
public:
MicroStrain();
MicroStrain5();
// update state
void update(void);