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AP_HAL_SITL: add support for simulated RichenPower generator

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This commit is contained in:
Peter Barker 2019-10-29 13:53:01 +11:00 committed by Randy Mackay
parent 8e708a0a32
commit 6056cc9d54
2 changed files with 6 additions and 0 deletions
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5
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -348,6 +348,9 @@ int SITL_State::sim_fd(const char *name, const char *arg)
} }
rplidara2 = new SITL::PS_RPLidarA2(); rplidara2 = new SITL::PS_RPLidarA2();
return rplidara2->fd(); return rplidara2->fd();
} else if (streq(name, "richenpower")) {
sitl_model->set_richenpower(&_sitl->richenpower_sim);
return _sitl->richenpower_sim.fd();
} }
AP_HAL::panic("unknown simulated device: %s", name); AP_HAL::panic("unknown simulated device: %s", name);
@ -439,6 +442,8 @@ int SITL_State::sim_fd_write(const char *name)
AP_HAL::panic("No rplidara2 created"); AP_HAL::panic("No rplidara2 created");
} }
return rplidara2->write_fd(); return rplidara2->write_fd();
} else if (streq(name, "richenpower")) {
return _sitl->richenpower_sim.write_fd();
} }
AP_HAL::panic("unknown simulated device: %s", name); AP_HAL::panic("unknown simulated device: %s", name);
} }

1
libraries/AP_HAL_SITL/SITL_State.h
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@ -44,6 +44,7 @@
// #include <SITL/SIM_Frsky_SPortPassthrough.h> // #include <SITL/SIM_Frsky_SPortPassthrough.h>
#include <SITL/SIM_PS_RPLidarA2.h> #include <SITL/SIM_PS_RPLidarA2.h>
#include <SITL/SIM_RichenPower.h>
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket.h>
class HAL_SITL; class HAL_SITL;