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HAL_SITL: support JSBSim backend

This commit is contained in:
Andrew Tridgell 2015-05-10 21:02:20 +10:00
parent 692fc18698
commit 5687adbdba
2 changed files with 10 additions and 5 deletions
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1
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -126,6 +126,7 @@ private:
// internal state
enum vehicle_type _vehicle;
uint16_t _framerate;
uint8_t _instance;
uint16_t _base_port;
float _initial_height;
struct sockaddr_in _rcout_addr;

14
libraries/AP_HAL_SITL/SITL_cmdline.cpp
View File

@ -17,6 +17,7 @@
#include <SIM_Helicopter.h>
#include <SIM_Rover.h>
#include <SIM_CRRCSim.h>
#include <SIM_JSBSim.h>
extern const AP_HAL::HAL& hal;
@ -53,7 +54,8 @@ static const struct {
{ "octa", MultiCopter::create },
{ "heli", Helicopter::create },
{ "rover", Rover::create },
{ "crrcsim", CRRCSim::create }
{ "crrcsim", CRRCSim::create },
{ "jsbsim", JSBSim::create }
};
void SITL_State::_parse_command_line(int argc, char * const argv[])
@ -76,6 +78,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
_simin_port = 5501;
_fdm_address = "127.0.0.1";
_client_address = NULL;
_instance = 0;
enum long_options {
CMDLINE_CLIENT=0
@ -117,10 +120,10 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
HALSITL::SITLUARTDriver::_console = true;
break;
case 'I': {
uint8_t instance = atoi(gopt.optarg);
_base_port += instance * 10;
_rcout_port += instance * 10;
_simin_port += instance * 10;
_instance = atoi(gopt.optarg);
_base_port += _instance * 10;
_rcout_port += _instance * 10;
_simin_port += _instance * 10;
}
break;
case 'P':
@ -155,6 +158,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
if (strncmp(model_constructors[i].name, model_str, strlen(model_constructors[i].name)) == 0) {
sitl_model = model_constructors[i].constructor(home_str, model_str);
sitl_model->set_speedup(speedup);
sitl_model->set_instance(_instance);
_synthetic_clock_mode = true;
printf("Started model %s at %s at speed %.1f\n", model_str, home_str, speedup);
break;