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AP_HAL_SITL: add Sagetech MXS simulator

This commit is contained in:
Peter Barker 2023-10-20 15:56:40 +11:00 committed by Andrew Tridgell
parent 9ba9553d96
commit 6d1d9df875
2 changed files with 20 additions and 0 deletions
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15
libraries/AP_HAL_SITL/SITL_State_common.cpp
View File

@ -49,6 +49,7 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
if (adsb == nullptr) {
adsb = new SITL::ADSB();
}
sitl_model->set_adsb(adsb);
return adsb;
#endif
} else if (streq(name, "benewake_tf03")) {
@ -209,6 +210,14 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
sf45b = new SITL::PS_LightWare_SF45B();
return sf45b;
#endif
#if AP_SIM_ADSB_SAGETECH_MXS_ENABLED
} else if (streq(name, "sagetech_mxs")) {
if (sagetech_mxs != nullptr) {
AP_HAL::panic("Only one sagetech_mxs at a time");
}
sagetech_mxs = new SITL::ADSB_Sagetech_MXS();
return sagetech_mxs;
#endif
#if !defined(HAL_BUILD_AP_PERIPH)
} else if (streq(name, "richenpower")) {
sitl_model->set_richenpower(&_sitl->richenpower_sim);
@ -390,6 +399,12 @@ void SITL_State_Common::sim_update(void)
}
#endif
#if AP_SIM_ADSB_SAGETECH_MXS_ENABLED
if (sagetech_mxs != nullptr) {
sagetech_mxs->update(sitl_model);
}
#endif
if (vectornav != nullptr) {
vectornav->update();
}

5
libraries/AP_HAL_SITL/SITL_State_common.h
View File

@ -10,6 +10,7 @@
#include <SITL/SIM_Gimbal.h>
#include <SITL/SIM_ADSB.h>
#include <SITL/SIM_ADSB_Sagetech_MXS.h>
#include <SITL/SIM_Vicon.h>
#include <SITL/SIM_RF_Benewake_TF02.h>
#include <SITL/SIM_RF_Benewake_TF03.h>
@ -112,6 +113,10 @@ public:
SITL::ADSB *adsb;
#endif
#if AP_SIM_ADSB_SAGETECH_MXS_ENABLED
SITL::ADSB_Sagetech_MXS *sagetech_mxs;
#endif
#if !defined(HAL_BUILD_AP_PERIPH)
// simulated vicon system:
SITL::Vicon *vicon;