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AP_HAL_SITL: add CRSF simulation driver

This commit is contained in:
Andy Piper 2020-06-04 18:59:30 +01:00 committed by Andrew Tridgell
parent 820d6654af
commit a9ded9d870
2 changed files with 20 additions and 0 deletions
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16
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -342,6 +342,12 @@ int SITL_State::sim_fd(const char *name, const char *arg)
// }
// frsky_sport = new SITL::Frsky_SPortPassthrough();
// return frsky_sportpassthrough->fd();
} else if (streq(name, "crsf")) {
if (crsf != nullptr) {
AP_HAL::panic("Only one crsf at a time");
}
crsf = new SITL::CRSF();
return crsf->fd();
} else if (streq(name, "rplidara2")) {
if (rplidara2 != nullptr) {
AP_HAL::panic("Only one rplidara2 at a time");
@ -443,6 +449,11 @@ int SITL_State::sim_fd_write(const char *name)
AP_HAL::panic("No frsky-d created");
}
return frsky_d->write_fd();
} else if (streq(name, "crsf")) {
if (crsf == nullptr) {
AP_HAL::panic("No crsf created");
}
return crsf->write_fd();
} else if (streq(name, "rplidara2")) {
if (rplidara2 == nullptr) {
AP_HAL::panic("No rplidara2 created");
@ -648,6 +659,11 @@ void SITL_State::_fdm_input_local(void)
// if (frsky_sportpassthrough != nullptr) {
// frsky_sportpassthrough->update();
// }
if (crsf != nullptr) {
crsf->update();
}
if (rplidara2 != nullptr) {
rplidara2->update(sitl_model->get_location());
}

4
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -41,6 +41,7 @@
#include <SITL/SIM_RF_GYUS42v2.h>
#include <SITL/SIM_Frsky_D.h>
#include <SITL/SIM_CRSF.h>
// #include <SITL/SIM_Frsky_SPort.h>
// #include <SITL/SIM_Frsky_SPortPassthrough.h>
#include <SITL/SIM_PS_RPLidarA2.h>
@ -284,6 +285,9 @@ private:
// simulated NMEA rangefinder:
SITL::PS_RPLidarA2 *rplidara2;
// simulated CRSF devices
SITL::CRSF *crsf;
// output socket for flightgear viewing
SocketAPM fg_socket{true};