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AP_HAL_SITL: add vicon-over-mavlink support

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This commit is contained in:
Peter Barker 2018-03-08 12:25:34 +11:00 committed by Randy Mackay
parent 1151d76345
commit 85b41a8abb
2 changed files with 18 additions and 0 deletions
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14
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -194,6 +194,13 @@ void SITL_State::wait_clock(uint64_t wait_time_usec)
#define streq(a, b) (!strcmp(a, b)) #define streq(a, b) (!strcmp(a, b))
int SITL_State::sim_fd(const char *name, const char *arg) int SITL_State::sim_fd(const char *name, const char *arg)
{ {
if (streq(name, "vicon")) {
if (vicon != nullptr) {
AP_HAL::panic("Only one vicon system at a time");
}
vicon = new SITL::Vicon();
return vicon->fd();
}
AP_HAL::panic("unknown simulated device: %s", name); AP_HAL::panic("unknown simulated device: %s", name);
} }
@ -298,6 +305,13 @@ void SITL_State::_fdm_input_local(void)
if (adsb != nullptr) { if (adsb != nullptr) {
adsb->update(); adsb->update();
} }
if (vicon != nullptr) {
Quaternion attitude;
sitl_model->get_attitude(attitude);
vicon->update(sitl_model->get_location(),
sitl_model->get_position(),
attitude);
}
if (_sitl && _use_fg_view) { if (_sitl && _use_fg_view) {
_output_to_flightgear(); _output_to_flightgear();

4
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -22,6 +22,7 @@
#include <SITL/SITL.h> #include <SITL/SITL.h>
#include <SITL/SIM_Gimbal.h> #include <SITL/SIM_Gimbal.h>
#include <SITL/SIM_ADSB.h> #include <SITL/SIM_ADSB.h>
#include <SITL/SIM_Vicon.h>
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket.h>
class HAL_SITL; class HAL_SITL;
@ -210,6 +211,9 @@ private:
// simulated ADSb // simulated ADSb
SITL::ADSB *adsb; SITL::ADSB *adsb;
// simulated vicon system:
SITL::Vicon *vicon;
// output socket for flightgear viewing // output socket for flightgear viewing
SocketAPM fg_socket{true}; SocketAPM fg_socket{true};