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AP_HAL_SITL: rearrange Grippers and Sprayers in SITL

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Adds parameters to configure and disable
This commit is contained in:
Pierre Kancir 2018-07-31 22:32:43 +10:00 committed by Peter Barker
parent 8b4b38bcb2
commit 96c54550e5
2 changed files with 8 additions and 3 deletions
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8
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -92,6 +92,10 @@ void SITL_State::_sitl_setup(const char *home_str)
gimbal = new SITL::Gimbal(_sitl->state); gimbal = new SITL::Gimbal(_sitl->state);
} }
sitl_model->set_sprayer(&_sitl->sprayer_sim);
sitl_model->set_gripper_servo(&_sitl->gripper_sim);
sitl_model->set_gripper_epm(&_sitl->gripper_epm_sim);
if (_use_fg_view) { if (_use_fg_view) {
fg_socket.connect(_fg_address, _fg_view_port); fg_socket.connect(_fg_address, _fg_view_port);
} }
@ -278,7 +282,7 @@ void SITL_State::_output_to_flightgear(void)
*/ */
void SITL_State::_fdm_input_local(void) void SITL_State::_fdm_input_local(void)
{ {
SITL::Aircraft::sitl_input input; struct sitl_input input;
// check for direct RC input // check for direct RC input
_check_rc_input(); _check_rc_input();
@ -336,7 +340,7 @@ void SITL_State::_fdm_input_local(void)
/* /*
create sitl_input structure for sending to FDM create sitl_input structure for sending to FDM
*/ */
void SITL_State::_simulator_servos(SITL::Aircraft::sitl_input &input) void SITL_State::_simulator_servos(struct sitl_input &input)
{ {
static uint32_t last_update_usec; static uint32_t last_update_usec;

3
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -20,6 +20,7 @@
#include <AP_Compass/AP_Compass.h> #include <AP_Compass/AP_Compass.h>
#include <AP_Terrain/AP_Terrain.h> #include <AP_Terrain/AP_Terrain.h>
#include <SITL/SITL.h> #include <SITL/SITL.h>
#include <SITL/SITL_Input.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 <SITL/SIM_Vicon.h>
@ -134,7 +135,7 @@ private:
void _check_rc_input(void); void _check_rc_input(void);
void _fdm_input_local(void); void _fdm_input_local(void);
void _output_to_flightgear(void); void _output_to_flightgear(void);
void _simulator_servos(SITL::Aircraft::sitl_input &input); void _simulator_servos(struct sitl_input &input);
void _simulator_output(bool synthetic_clock_mode); void _simulator_output(bool synthetic_clock_mode);
uint16_t _airspeed_sensor(float airspeed); uint16_t _airspeed_sensor(float airspeed);
uint16_t _ground_sonar(); uint16_t _ground_sonar();