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AP_HAL_SITL: rename uLanding simulation to USD1

This commit is contained in:
Andrew Tridgell 2021-10-26 08:41:10 +11:00 committed by Peter Barker
parent 4f2bec72b6
commit 8192661042
2 changed files with 28 additions and 28 deletions
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44
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -271,18 +271,18 @@ int SITL_State::sim_fd(const char *name, const char *arg)
}
leddarone = new SITL::RF_LeddarOne();
return leddarone->fd();
} else if (streq(name, "ulanding_v0")) {
if (ulanding_v0 != nullptr) {
AP_HAL::panic("Only one ulanding_v0 at a time");
} else if (streq(name, "USD1_v0")) {
if (USD1_v0 != nullptr) {
AP_HAL::panic("Only one USD1_v0 at a time");
}
ulanding_v0 = new SITL::RF_uLanding_v0();
return ulanding_v0->fd();
} else if (streq(name, "ulanding_v1")) {
if (ulanding_v1 != nullptr) {
AP_HAL::panic("Only one ulanding_v1 at a time");
USD1_v0 = new SITL::RF_USD1_v0();
return USD1_v0->fd();
} else if (streq(name, "USD1_v1")) {
if (USD1_v1 != nullptr) {
AP_HAL::panic("Only one USD1_v1 at a time");
}
ulanding_v1 = new SITL::RF_uLanding_v1();
return ulanding_v1->fd();
USD1_v1 = new SITL::RF_USD1_v1();
return USD1_v1->fd();
} else if (streq(name, "maxsonarseriallv")) {
if (maxsonarseriallv != nullptr) {
AP_HAL::panic("Only one maxsonarseriallv at a time");
@ -453,16 +453,16 @@ int SITL_State::sim_fd_write(const char *name)
AP_HAL::panic("No leddarone created");
}
return leddarone->write_fd();
} else if (streq(name, "ulanding_v0")) {
if (ulanding_v0 == nullptr) {
AP_HAL::panic("No ulanding_v0 created");
} else if (streq(name, "USD1_v0")) {
if (USD1_v0 == nullptr) {
AP_HAL::panic("No USD1_v0 created");
}
return ulanding_v0->write_fd();
} else if (streq(name, "ulanding_v1")) {
if (ulanding_v1 == nullptr) {
AP_HAL::panic("No ulanding_v1 created");
return USD1_v0->write_fd();
} else if (streq(name, "USD1_v1")) {
if (USD1_v1 == nullptr) {
AP_HAL::panic("No USD1_v1 created");
}
return ulanding_v1->write_fd();
return USD1_v1->write_fd();
} else if (streq(name, "maxsonarseriallv")) {
if (maxsonarseriallv == nullptr) {
AP_HAL::panic("No maxsonarseriallv created");
@ -717,11 +717,11 @@ void SITL_State::_fdm_input_local(void)
if (leddarone != nullptr) {
leddarone->update(sitl_model->rangefinder_range());
}
if (ulanding_v0 != nullptr) {
ulanding_v0->update(sitl_model->rangefinder_range());
if (USD1_v0 != nullptr) {
USD1_v0->update(sitl_model->rangefinder_range());
}
if (ulanding_v1 != nullptr) {
ulanding_v1->update(sitl_model->rangefinder_range());
if (USD1_v1 != nullptr) {
USD1_v1->update(sitl_model->rangefinder_range());
}
if (maxsonarseriallv != nullptr) {
maxsonarseriallv->update(sitl_model->rangefinder_range());

12
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -36,8 +36,8 @@
#include <SITL/SIM_RF_Lanbao.h>
#include <SITL/SIM_RF_BLping.h>
#include <SITL/SIM_RF_LeddarOne.h>
#include <SITL/SIM_RF_uLanding_v0.h>
#include <SITL/SIM_RF_uLanding_v1.h>
#include <SITL/SIM_RF_USD1_v0.h>
#include <SITL/SIM_RF_USD1_v1.h>
#include <SITL/SIM_RF_MaxsonarSerialLV.h>
#include <SITL/SIM_RF_Wasp.h>
#include <SITL/SIM_RF_NMEA.h>
@ -239,10 +239,10 @@ private:
SITL::RF_BLping *blping;
// simulated LeddarOne rangefinder:
SITL::RF_LeddarOne *leddarone;
// simulated uLanding v0 rangefinder:
SITL::RF_uLanding_v0 *ulanding_v0;
// simulated uLanding v1 rangefinder:
SITL::RF_uLanding_v1 *ulanding_v1;
// simulated USD1 v0 rangefinder:
SITL::RF_USD1_v0 *USD1_v0;
// simulated USD1 v1 rangefinder:
SITL::RF_USD1_v1 *USD1_v1;
// simulated MaxsonarSerialLV rangefinder:
SITL::RF_MaxsonarSerialLV *maxsonarseriallv;
// simulated Wasp rangefinder: