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SITL: support -P option

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this allows changing a parameter on initial startup
This commit is contained in:
Andrew Tridgell 2014-04-11 12:28:32 +10:00
parent 7dda8afd60
commit 8b9b4026f0
2 changed files with 36 additions and 1 deletions
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36
libraries/AP_HAL_AVR_SITL/SITL_State.cpp
View File

@ -103,7 +103,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
setvbuf(stdout, (char *)0, _IONBF, 0);
setvbuf(stderr, (char *)0, _IONBF, 0);
while ((opt = getopt(argc, argv, "swhr:H:CI:")) != -1) {
while ((opt = getopt(argc, argv, "swhr:H:CI:P:")) != -1) {
switch (opt) {
case 'w':
AP_Param::erase_all();
@ -125,6 +125,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
_simin_port += instance * 10;
}
break;
case 'P':
_set_param_default(optarg);
break;
default:
_usage();
exit(1);
@ -156,6 +159,37 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
}
void SITL_State::_set_param_default(char *parm)
{
char *p = strchr(parm, '=');
if (p == NULL) {
printf("Please specify parameter as NAME=VALUE");
exit(1);
}
float value = atof(p+1);
*p = 0;
enum ap_var_type var_type;
AP_Param *vp = AP_Param::find(parm, &var_type);
if (vp == NULL) {
printf("Unknown parameter %s\n", parm);
exit(1);
}
if (var_type == AP_PARAM_FLOAT) {
((AP_Float *)vp)->set_and_save(value);
} else if (var_type == AP_PARAM_INT32) {
((AP_Int32 *)vp)->set_and_save(value);
} else if (var_type == AP_PARAM_INT16) {
((AP_Int16 *)vp)->set_and_save(value);
} else if (var_type == AP_PARAM_INT8) {
((AP_Int8 *)vp)->set_and_save(value);
} else {
printf("Unable to set parameter %s\n", parm);
exit(1);
}
printf("Set parameter %s to %f\n", parm, value);
}
/*
setup for SITL handling
*/

1
libraries/AP_HAL_AVR_SITL/SITL_State.h
View File

@ -51,6 +51,7 @@ public:
private:
void _parse_command_line(int argc, char * const argv[]);
void _set_param_default(char *parm);
void _usage(void);
void _sitl_setup(void);
void _setup_fdm(void);