SITL: add support for Plane SITL-on-hw

libraries/SITL/examples/on-hardware/README.md

@@ -9,6 +9,13 @@ Run the sitl-on-hw.sh script to compile and flash for MatekH743.  Adjust for you
 	cd $HOME/ardupilot
 	./libraries/SITL/examples/on-hardware/sitl-on-hw.sh
 
+Plane can also be simulated:
+
+::
+
+	cd $HOME/ardupilot
+	./libraries/SITL/examples/on-hardware/sitl-on-hw.sh -v plane
+
 ## Configuring
 
 Wipe the parameters on the board; this can be done with a mavlink command, or by setting the FORMAT_VERSION parameter to 0.

libraries/SITL/examples/on-hardware/plane-default.param

@@ -0,0 +1,51 @@
+AHRS_EKF_TYPE 10
+
+BATT_MONITOR    0
+
+COMPASS_OFS_X   5
+COMPASS_OFS_Y   13
+COMPASS_OFS_Z   -18
+COMPASS_OFS2_X   5
+COMPASS_OFS2_Y   13
+COMPASS_OFS2_Z   -18
+
+THR_FAILSAFE   1
+THR_FS_VALUE     950
+
+RC7_OPTION      7
+
+FLTMODE1        7
+FLTMODE2        9
+FLTMODE3        6
+FLTMODE4        3
+FLTMODE5        5
+FLTMODE6		0
+
+GPS_TYPE 100
+
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
+INS_ACC2OFFS_X   0.001
+INS_ACC2OFFS_Y   0.001
+INS_ACC2OFFS_Z   0.001
+INS_ACC2SCAL_X   1.001
+INS_ACC2SCAL_Y   1.001
+INS_ACC2SCAL_Z   1.001
+
+SCHED_DEBUG 0
+
+SIM_MAG1_DEVID 97539
+SIM_BARO_RND    0
+
+SIM_RATE_HZ 400
+SCHED_LOOP_RATE 400
+
+BRD_RTC_TYPES 2
+
+SERVO3_MIN 1000
+SERVO3_TRIM 1000
+SERVO3_MAX 2000

libraries/SITL/examples/on-hardware/plane-extra-hwdef-sitl-on-hw.dat

@@ -0,0 +1,30 @@
+env SIM_ENABLED 1
+
+define INS_MAX_INSTANCES 2
+define HAL_COMPASS_MAX_SENSORS 2
+
+define HAL_NAVEKF2_AVAILABLE 0
+define EK3_FEATURE_BODY_ODOM 0
+define EK3_FEATURE_EXTERNAL_NAV 0
+define EK3_FEATURE_DRAG_FUSION 0
+define HAL_ADSB_ENABLED 0
+define HAL_MOUNT_ENABLED 0
+define HAL_PROXIMITY_ENABLED 0
+define HAL_VISUALODOM_ENABLED 0
+define HAL_GENERATOR_ENABLED 0
+# define HAL_LOGGING_ENABLED 0
+define HAL_CRSF_TELEM_ENABLED 0
+#define OSD_ENABLED 0
+define FRAME_HEXA 0
+define FRAME_OCTA 0
+define FRAME_DODECAHEXA 0
+define FRAME_Y6 0
+define FRAME_OCTAQUAD 0
+
+define LANDING_GEAR_ENABLED 0
+define HAL_MSP_OPTICALFLOW_ENABLED 0
+define HAL_SUPPORT_RCOUT_SERIAL 0
+define HAL_HOTT_TELEM_ENABLED 0
+# define HAL_WITH_DSP 0
+
+define HAL_HIGH_LATENCY2 0

libraries/SITL/examples/on-hardware/sitl-on-hw.sh

@@ -9,9 +9,47 @@ BOARD=MatekH743
 
 THISDIR=$(dirname $0)
 
+VEHICLE="copter"
+DEFAULTS_PATH=""
+EXTRA_HWDEF=""
+
+usage() {
+    echo "Usage: $0 [-v <plane|copter>] [-d DEFAULT_FILEPATH] [-b BOARDNAME]" >&2;
+    exit 1;
+}
+
+while getopts ":v:d:b:" o; do
+    case "${o}" in
+        v)
+            VEHICLE=${OPTARG}
+            [ "$VEHICLE" == "plane" ] || [ "$VEHICLE" == "copter" ] || usage
+            ;;
+        d)
+            DEFAULTS_PATH=${OPTARG}
+            ;;
+        b)
+            BOARD=${OPTARG}
+            ;;
+        *)
+            usage
+            ;;
+    esac
+done
+shift $((OPTIND-1))
+
+if [ -z "${DEFAULTS_PATH}" ]; then
+    if [ "$VEHICLE" == "plane" ]; then
+        DEFAULTS_PATH="$THISDIR/plane-default.param"
+        EXTRA_HWDEF="$THISDIR/plane-extra-hwdef-sitl-on-hw.dat"
+    elif ["$VEHICLE" == "copter" ]; then
+        DEFAULTS_PATH="$THISDIR/default.param"
+        EXTRA_HWDEF="$THISDIR/extra-hwdef-sitl-on-hw.dat"
+    fi
+fi
+
 ./waf configure \
       --board=$BOARD \
-      --extra-hwdef="$THISDIR/extra-hwdef-sitl-on-hw.dat" \
+      --extra-hwdef="$EXTRA_HWDEF" \
-      --default-param="$THISDIR/default.param"
+      --default-param="$DEFAULTS_PATH"
 
-./waf copter --upload
+./waf ${VEHICLE} --upload