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SITL: Rename LORD to MicroStrain

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Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2023-08-04 15:31:14 -06:00 committed by Andrew Tridgell
parent cb480d2855
commit 7c2baa75d9
2 changed files with 25 additions and 25 deletions
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32
libraries/SITL/SIM_LORD.cpp → libraries/SITL/SIM_MicroStrain.cpp
View File

@ -13,9 +13,9 @@
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
simulate LORD Microstrain serial device
simulate LORD MicroStrain serial device
*/
#include "SIM_LORD.h"
#include "SIM_MicroStrain.h"
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
@ -24,7 +24,7 @@
using namespace SITL;
LORD::LORD() :SerialDevice::SerialDevice()
MicroStrain::MicroStrain() :SerialDevice::SerialDevice()
{
}
@ -48,7 +48,7 @@ static void simulation_timeval(struct timeval *tv)
tv->tv_usec = new_usec % 1000000ULL;
}
void LORD::generate_checksum(LORD_Packet& packet)
void MicroStrain::generate_checksum(MicroStrain_Packet& packet)
{
uint8_t checksumByte1 = 0;
uint8_t checksumByte2 = 0;
@ -67,7 +67,7 @@ void LORD::generate_checksum(LORD_Packet& packet)
packet.checksum[1] = checksumByte2;
}
void LORD::send_packet(LORD_Packet packet)
void MicroStrain::send_packet(MicroStrain_Packet packet)
{
generate_checksum(packet);
@ -77,10 +77,10 @@ void LORD::send_packet(LORD_Packet packet)
}
void LORD::send_imu_packet(void)
void MicroStrain::send_imu_packet(void)
{
const auto &fdm = _sitl->state;
LORD_Packet packet;
MicroStrain_Packet packet;
struct timeval tv;
simulation_timeval(&tv);
@ -136,10 +136,10 @@ void LORD::send_imu_packet(void)
}
void LORD::send_gnss_packet(void)
void MicroStrain::send_gnss_packet(void)
{
const auto &fdm = _sitl->state;
LORD_Packet packet;
MicroStrain_Packet packet;
struct timeval tv;
simulation_timeval(&tv);
@ -205,10 +205,10 @@ void LORD::send_gnss_packet(void)
send_packet(packet);
}
void LORD::send_filter_packet(void)
void MicroStrain::send_filter_packet(void)
{
const auto &fdm = _sitl->state;
LORD_Packet packet;
MicroStrain_Packet packet;
struct timeval tv;
simulation_timeval(&tv);
@ -254,9 +254,9 @@ void LORD::send_filter_packet(void)
}
/*
send LORD data
send MicroStrain data
*/
void LORD::update(void)
void MicroStrain::update(void)
{
if (!init_sitl_pointer()) {
return;
@ -283,7 +283,7 @@ void LORD::update(void)
}
}
void LORD::put_float(LORD_Packet &packet, float f)
void MicroStrain::put_float(MicroStrain_Packet &packet, float f)
{
uint32_t fbits = 0;
memcpy(&fbits, &f, sizeof(fbits));
@ -291,7 +291,7 @@ void LORD::put_float(LORD_Packet &packet, float f)
packet.payload_size += sizeof(float);
}
void LORD::put_double(LORD_Packet &packet, double d)
void MicroStrain::put_double(MicroStrain_Packet &packet, double d)
{
uint64_t dbits = 0;
memcpy(&dbits, &d, sizeof(dbits));
@ -299,7 +299,7 @@ void LORD::put_double(LORD_Packet &packet, double d)
packet.payload_size += sizeof(double);
}
void LORD::put_int(LORD_Packet &packet, uint16_t t)
void MicroStrain::put_int(MicroStrain_Packet &packet, uint16_t t)
{
put_be16_ptr(&packet.payload[packet.payload_size], t);
packet.payload_size += sizeof(uint16_t);

18
libraries/SITL/SIM_LORD.h → libraries/SITL/SIM_MicroStrain.h
View File

@ -6,7 +6,7 @@
// param set EAHRS_TYPE 2
// param set SERIAL4_PROTOCOL 36
// param set SERIAL4_BAUD 115
// sim_vehicle.py -v ArduPlane -D --console --map -A --uartE=sim:LORD
// sim_vehicle.py -v ArduPlane -D --console --map -A --uartE=sim:MicroStrain
#pragma once
#include "SIM_Aircraft.h"
@ -17,17 +17,17 @@
namespace SITL
{
class LORD : public SerialDevice
class MicroStrain : public SerialDevice
{
public:
LORD();
MicroStrain();
// update state
void update(void);
private:
struct LORD_Packet {
struct MicroStrain_Packet {
uint8_t header[4];
uint8_t payload[256];
uint8_t checksum[2];
@ -39,16 +39,16 @@ private:
uint32_t last_gnss_pkt_us;
uint32_t last_filter_pkt_us;
void generate_checksum(LORD_Packet&);
void generate_checksum(MicroStrain_Packet&);
void send_packet(LORD_Packet);
void send_packet(MicroStrain_Packet);
void send_imu_packet();
void send_gnss_packet();
void send_filter_packet();
void put_float(LORD_Packet&, float);
void put_double(LORD_Packet&, double);
void put_int(LORD_Packet&, uint16_t);
void put_float(MicroStrain_Packet&, float);
void put_double(MicroStrain_Packet&, double);
void put_int(MicroStrain_Packet&, uint16_t);
uint64_t start_us;
};