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HAL_SITL: hook in CRRCSim backend

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This commit is contained in:
Andrew Tridgell 2015-05-05 21:29:01 +10:00
parent 93d5101bf9
commit 6a8da06d19
1 changed files with 3 additions and 4 deletions
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7
libraries/AP_HAL_SITL/SITL_cmdline.cpp
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@ -16,6 +16,7 @@
#include <SIM_Multicopter.h> #include <SIM_Multicopter.h>
#include <SIM_Helicopter.h> #include <SIM_Helicopter.h>
#include <SIM_Rover.h> #include <SIM_Rover.h>
#include <SIM_CRRCSim.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -49,12 +50,10 @@ static const struct {
{ "+", MultiCopter::create }, { "+", MultiCopter::create },
{ "x", MultiCopter::create }, { "x", MultiCopter::create },
{ "hexa", MultiCopter::create }, { "hexa", MultiCopter::create },
{ "hexax", MultiCopter::create },
{ "octa", MultiCopter::create }, { "octa", MultiCopter::create },
{ "octa-quad", MultiCopter::create },
{ "heli", Helicopter::create }, { "heli", Helicopter::create },
{ "rover", Rover::create }, { "rover", Rover::create },
{ "rover-skid",Rover::create } { "crrcsim", CRRCSim::create }
}; };
void SITL_State::_parse_command_line(int argc, char * const argv[]) void SITL_State::_parse_command_line(int argc, char * const argv[])
@ -144,7 +143,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
if (model_str && home_str) { if (model_str && home_str) {
for (uint8_t i=0; i<sizeof(model_constructors)/sizeof(model_constructors[0]); i++) { for (uint8_t i=0; i<sizeof(model_constructors)/sizeof(model_constructors[0]); i++) {
if (strcmp(model_constructors[i].name, model_str) == 0) { 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 = model_constructors[i].constructor(home_str, model_str);
sitl_model->set_speedup(speedup); sitl_model->set_speedup(speedup);
_synthetic_clock_mode = true; _synthetic_clock_mode = true;