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

AP_HAL_SITL: allow SITL sketches to run 

allow sketchname to be set
This commit is contained in:
Andy Piper 2022-10-03 17:52:29 +01:00 committed by Andrew Tridgell
parent b19b14404b
commit 5ea3415a41
2 changed files with 12 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
libraries/AP_HAL_SITL/SITL_cmdline.cpp
View File

@ -206,6 +206,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
// default to CMAC
const char *home_str = nullptr;
const char *model_str = nullptr;
const char *vehicle_str = SKETCH;
_use_fg_view = true;
char *autotest_dir = nullptr;
_fg_address = "127.0.0.1";
@ -337,6 +338,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
#if STORAGE_USE_FRAM
{"set-storage-fram-enabled", true, 0, CMDLINE_SET_STORAGE_FRAM_ENABLED},
#endif
{"vehicle", true, 0, 'v'},
{0, false, 0, 0}
};
@ -361,7 +363,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
bool wiping_storage = false;
GetOptLong gopt(argc, argv, "hwus:r:CI:P:SO:M:F:c:",
GetOptLong gopt(argc, argv, "hwus:r:CI:P:SO:M:F:c:v:",
options);
while (!is_replay && (opt = gopt.getoption()) != -1) {
switch (opt) {
@ -420,6 +422,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
case 'F':
_fg_address = gopt.optarg;
break;
case 'v':
vehicle_str = gopt.optarg;
break;
case CMDLINE_GIMBAL:
enable_gimbal = true;
break;
@ -590,20 +595,20 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
hal.set_wipe_storage(wiping_storage);
}
fprintf(stdout, "Starting sketch '%s'\n", SKETCH);
fprintf(stdout, "Starting sketch '%s'\n", vehicle_str);
if (strcmp(SKETCH, "ArduCopter") == 0) {
if (strcmp(vehicle_str, "ArduCopter") == 0) {
_vehicle = ArduCopter;
} else if (strcmp(SKETCH, "Rover") == 0) {
} else if (strcmp(vehicle_str, "Rover") == 0) {
_vehicle = Rover;
// set right default throttle for rover (allowing for reverse)
pwm_input[2] = 1500;
} else if (strcmp(SKETCH, "ArduSub") == 0) {
} else if (strcmp(vehicle_str, "ArduSub") == 0) {
_vehicle = ArduSub;
for(uint8_t i = 0; i < 8; i++) {
pwm_input[i] = 1500;
}
} else if (strcmp(SKETCH, "Blimp") == 0) {
} else if (strcmp(vehicle_str, "Blimp") == 0) {
_vehicle = Blimp;
for(uint8_t i = 0; i < 8; i++) {
pwm_input[i] = 1500;

2
libraries/AP_HAL_SITL/UARTDriver.cpp
View File

@ -91,7 +91,7 @@ void UARTDriver::begin(uint32_t baud, uint16_t rxSpace, uint16_t txSpace)
char *devtype = strtok_r(s, ":", &saveptr);
char *args1 = strtok_r(nullptr, ":", &saveptr);
char *args2 = strtok_r(nullptr, ":", &saveptr);
#if !defined(HAL_BUILD_AP_PERIPH)
#if APM_BUILD_COPTER_OR_HELI || APM_BUILD_TYPE(APM_BUILD_ArduPlane)
if (_portNumber == 2 && AP::sitl()->adsb_plane_count >= 0) {
// this is ordinarily port 5762. The ADSB simulation assumed
// this port, so if enabled we assume we'll be doing ADSB...