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

AP_HAL_SITL: Add MicroStrain7 support to SITL 

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2023-11-21 22:41:53 -07:00 committed by Andrew Tridgell
parent 1ae13cd66d
commit 5bcdaa360e
2 changed files with 15 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_HAL_SITL/SITL_State_common.cpp
View File

@ -269,6 +269,13 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
}
microstrain5 = new SITL::MicroStrain5();
return microstrain5;
} else if (streq(name, "MicroStrain7")) {
if (microstrain7 != nullptr) {
AP_HAL::panic("Only one MicroStrain7 at a time");
}
microstrain7 = new SITL::MicroStrain7();
return microstrain7;
#if HAL_SIM_AIS_ENABLED
} else if (streq(name, "AIS")) {
if (ais != nullptr) {
@ -435,6 +442,10 @@ void SITL_State_Common::sim_update(void)
microstrain5->update();
}
if (microstrain7 != nullptr) {
microstrain7->update();
}
#if HAL_SIM_AIS_ENABLED
if (ais != nullptr) {
ais->update();

5
libraries/AP_HAL_SITL/SITL_State_common.h
View File

@ -197,9 +197,12 @@ public:
// simulated VectorNav system:
SITL::VectorNav *vectornav;
// simulated LORD MicroStrain system
// simulated MicroStrain system
SITL::MicroStrain5 *microstrain5;
// simulated MicroStrain system
SITL::MicroStrain7 *microstrain7;
#if HAL_SIM_JSON_MASTER_ENABLED
// Ride along instances via JSON SITL backend
SITL::JSON_Master ride_along;