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AP_HAL_SITL: add Volz simulator

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Peter Barker 2025-01-11 12:44:51 +11:00 committed by Peter Barker
parent b43410a021
commit a6c3fb8336
2 changed files with 20 additions and 0 deletions
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15
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -392,9 +392,24 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
}
}
#if AP_SIM_VOLZ_ENABLED
// update simulation input based on data received via "serial" to
// Volz servos:
if (_sitl->volz_sim.enabled()) {
_sitl->volz_sim.update_sitl_input_pwm(input);
for (uint8_t i=0; i<ARRAY_SIZE(input.servos); i++) {
if (input.servos[i] != 0 && input.servos[i] < 1000) {
AP_HAL::panic("Bad input servo value (%u)", input.servos[i]);
}
}
}
#endif
const float engine_mul = _sitl->engine_mul.get();
const uint32_t engine_fail = _sitl->engine_fail.get();
float throttle = 0.0f;
// apply engine multiplier to motor defined by the SIM_ENGINE_FAIL parameter
for (uint8_t i=0; i<ARRAY_SIZE(input.servos); i++) {
if (engine_fail & (1<<i)) {

5
libraries/AP_HAL_SITL/SITL_State_common.cpp
View File

@ -204,6 +204,11 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
sitl_model->set_ie24(&_sitl->ie24_sim);
return &_sitl->ie24_sim;
#endif // HAL_BUILD_AP_PERIPH
#if AP_SIM_VOLZ_ENABLED
} else if (streq(name, "volz")) {
sitl_model->set_volz(&_sitl->volz_sim);
return &_sitl->volz_sim;
#endif // AP_SIM_VOLZ_ENABLED
} else if (streq(name, "megasquirt")) {
if (efi_ms != nullptr) {
AP_HAL::panic("Only one megasquirt at a time");