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SITL: added SIM_CAN_SRV_MSK 

mask of outputs that will come from the CAN SITL peripheral
This commit is contained in:
Andrew Tridgell 2023-08-20 08:49:50 +10:00 committed by Peter Barker
parent b72f4a3cd8
commit 4e71023018
2 changed files with 9 additions and 0 deletions
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8
libraries/SITL/SITL.cpp
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@ -97,6 +97,14 @@ const AP_Param::GroupInfo SIM::var_info[] = {
// @Description: If set, if a numerical error occurs SITL will die with a floating point exception.
// @User: Advanced
AP_GROUPINFO("FLOAT_EXCEPT", 28, SIM, float_exception, 1),
// @Param: CAN_SRV_MSK
// @DisplayName: Mask of CAN servos/ESCs
// @Description: The set of actuators controlled externally by CAN SITL AP_Periph
// @Bitmask: 0: Servo 1, 1: Servo 2, 2: Servo 3, 3: Servo 4, 4: Servo 5, 5: Servo 6, 6: Servo 7, 7: Servo 8, 8: Servo 9, 9: Servo 10, 10: Servo 11, 11: Servo 12, 12: Servo 13, 13: Servo 14, 14: Servo 15, 15: Servo 16, 16: Servo 17, 17: Servo 18, 18: Servo 19, 19: Servo 20, 20: Servo 21, 21: Servo 22, 22: Servo 23, 23: Servo 24, 24: Servo 25, 25: Servo 26, 26: Servo 27, 27: Servo 28, 28: Servo 29, 29: Servo 30, 30: Servo 31, 31: Servo 32
// @User: Advanced
AP_GROUPINFO("CAN_SRV_MSK", 29, SIM, can_servo_mask, 0),
AP_GROUPINFO("SONAR_SCALE", 32, SIM, sonar_scale, 12.1212f),
AP_GROUPINFO("FLOW_ENABLE", 33, SIM, flow_enable, 0),
AP_GROUPINFO("TERRAIN", 34, SIM, terrain_enable, 1),

1
libraries/SITL/SITL.h
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@ -218,6 +218,7 @@ public:
AP_Int8 rc_fail; // fail RC input
AP_Int8 rc_chancount; // channel count
AP_Int8 float_exception; // enable floating point exception checks
AP_Int32 can_servo_mask; // mask of servos/escs coming from CAN
AP_Int8 flow_enable; // enable simulated optflow
AP_Int16 flow_rate; // optflow data rate (Hz)
AP_Int8 flow_delay; // optflow data delay