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SITL: add hardware relay enable mask for passing relays through to hardware

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James O'Shannessy 2023-09-05 00:46:21 +10:00 committed by Peter Barker
parent 8c2627ca40
commit 8125ba1a41
2 changed files with 15 additions and 0 deletions
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14
libraries/SITL/SITL.cpp
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@ -47,6 +47,15 @@ extern const AP_HAL::HAL& hal;
#endif
#endif
#if (CONFIG_HAL_BOARD != HAL_BOARD_SITL)
// For on-hardware, set allowed relay channels to zero.
// Requires user to change the param to allow hadware access.
#define SIM_DEFAULT_ENABLED_RELAY_CHANNELS 0
#else
// For SITL, set allowed relay channels to the full mask.
#define SIM_DEFAULT_ENABLED_RELAY_CHANNELS UINT16_MAX
#endif
namespace SITL {
SIM *SIM::_singleton = nullptr;
@ -1029,6 +1038,11 @@ const AP_Param::GroupInfo SIM::var_ins[] = {
AP_GROUPINFO("GYR5_BIAS", 47, SIM, gyro_bias[4], 0),
#endif
// @Param: OH_RELAY_MSK
// @DisplayName: SIM-on_hardware Relay Enable Mask
// @Description: Allow relay output operation when running SIM-on-hardware
AP_GROUPINFO("OH_RELAY_MSK", 48, SIM, on_hardware_relay_enable_mask, SIM_DEFAULT_ENABLED_RELAY_CHANNELS),
// the IMUT parameters must be last due to the enable parameters
#if HAL_INS_TEMPERATURE_CAL_ENABLE
AP_SUBGROUPINFO(imu_tcal[0], "IMUT1_", 61, SIM, AP_InertialSensor_TCal),

1
libraries/SITL/SITL.h
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@ -246,6 +246,7 @@ public:
AP_Int16 loop_rate_hz;
AP_Int16 loop_time_jitter_us;
AP_Int32 on_hardware_output_enable_mask; // mask of output channels passed through to actual hardware
AP_Int16 on_hardware_relay_enable_mask; // mask of relays passed through to actual hardware
AP_Float uart_byte_loss_pct;