Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-07 00:13:59 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_SITL: load SIM_AIS

Browse Source
This commit is contained in:
Iampete1 2021-04-11 15:42:17 +01:00 committed by Randy Mackay
parent ce7a93ab6c
commit 6deacda180
2 changed files with 19 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -382,6 +382,12 @@ int SITL_State::sim_fd(const char *name, const char *arg)
}
vectornav = new SITL::VectorNav();
return vectornav->fd();
} else if (streq(name, "AIS")) {
if (ais != nullptr) {
AP_HAL::panic("Only one AIS at a time");
}
ais = new SITL::AIS();
return ais->fd();
}
AP_HAL::panic("unknown simulated device: %s", name);
@ -502,6 +508,11 @@ int SITL_State::sim_fd_write(const char *name)
AP_HAL::panic("No VectorNav created");
}
return vectornav->write_fd();
} else if (streq(name, "AIS")) {
if (ais == nullptr) {
AP_HAL::panic("No AIS created");
}
return ais->write_fd();
}
AP_HAL::panic("unknown simulated device: %s", name);
}
@ -723,6 +734,10 @@ void SITL_State::_fdm_input_local(void)
vectornav->update();
}
if (ais != nullptr) {
ais->update();
}
if (_sitl) {
_sitl->efi_ms.update();
}

4
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -44,6 +44,7 @@
#include <SITL/SIM_RF_MAVLink.h>
#include <SITL/SIM_RF_GYUS42v2.h>
#include <SITL/SIM_VectorNav.h>
#include <SITL/SIM_AIS.h>
#include <SITL/SIM_Frsky_D.h>
#include <SITL/SIM_CRSF.h>
@ -312,6 +313,9 @@ private:
// Ride along instances via JSON SITL backend
SITL::JSON_Master ride_along;
// simulated AIS stream
SITL::AIS *ais;
// output socket for flightgear viewing
SocketAPM fg_socket{true};