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AP_HAL_SITL: add LD06 simulator

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This commit is contained in:
Peter Barker 2024-12-20 13:38:15 +11:00 committed by Randy Mackay
parent 54a36170e4
commit a077a99783
2 changed files with 20 additions and 0 deletions
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14
libraries/AP_HAL_SITL/SITL_State_common.cpp
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@ -184,6 +184,14 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
crsf = NEW_NOTHROW SITL::CRSF(); crsf = NEW_NOTHROW SITL::CRSF();
return crsf; return crsf;
#endif #endif
#if AP_SIM_PS_LD06_ENABLED
} else if (streq(name, "ld06")) {
if (ld06 != nullptr) {
AP_HAL::panic("Only one ld06 at a time");
}
ld06 = NEW_NOTHROW SITL::PS_LD06();
return ld06;
#endif // AP_SIM_PS_LD06_ENABLED
#if HAL_SIM_PS_RPLIDARA2_ENABLED #if HAL_SIM_PS_RPLIDARA2_ENABLED
} else if (streq(name, "rplidara2")) { } else if (streq(name, "rplidara2")) {
if (rplidara2 != nullptr) { if (rplidara2 != nullptr) {
@ -435,6 +443,12 @@ void SITL_State_Common::sim_update(void)
} }
#endif #endif
#if AP_SIM_PS_LD06_ENABLED
if (ld06 != nullptr) {
ld06->update(sitl_model->get_location());
}
#endif // AP_SIM_PS_LD06_ENABLED
#if HAL_SIM_PS_RPLIDARA2_ENABLED #if HAL_SIM_PS_RPLIDARA2_ENABLED
if (rplidara2 != nullptr) { if (rplidara2 != nullptr) {
rplidara2->update(sitl_model->get_location()); rplidara2->update(sitl_model->get_location());

6
libraries/AP_HAL_SITL/SITL_State_common.h
View File

@ -44,6 +44,7 @@
#include <SITL/SIM_CRSF.h> #include <SITL/SIM_CRSF.h>
// #include <SITL/SIM_Frsky_SPort.h> // #include <SITL/SIM_Frsky_SPort.h>
// #include <SITL/SIM_Frsky_SPortPassthrough.h> // #include <SITL/SIM_Frsky_SPortPassthrough.h>
#include <SITL/SIM_PS_LD06.h>
#include <SITL/SIM_PS_RPLidarA2.h> #include <SITL/SIM_PS_RPLidarA2.h>
#include <SITL/SIM_PS_RPLidarA1.h> #include <SITL/SIM_PS_RPLidarA1.h>
#include <SITL/SIM_PS_TeraRangerTower.h> #include <SITL/SIM_PS_TeraRangerTower.h>
@ -172,6 +173,11 @@ public:
// SITL::Frsky_SPort *frsky_sport; // SITL::Frsky_SPort *frsky_sport;
// SITL::Frsky_SPortPassthrough *frsky_sportpassthrough; // SITL::Frsky_SPortPassthrough *frsky_sportpassthrough;
#if AP_SIM_PS_LD06_ENABLED
// simulated LD06:
SITL::PS_LD06 *ld06;
#endif // AP_SIM_PS_LD06_ENABLED
#if HAL_SIM_PS_RPLIDARA2_ENABLED #if HAL_SIM_PS_RPLIDARA2_ENABLED
// simulated RPLidarA2: // simulated RPLidarA2:
SITL::PS_RPLidarA2 *rplidara2; SITL::PS_RPLidarA2 *rplidara2;