HAL_SITL: implement get_custom_defaults_file()

libraries/AP_HAL_SITL/HAL_SITL_Class.cpp

@@ -43,7 +43,7 @@ static SITLUARTDriver sitlUart2Driver(2, &sitlState);
 static SITLUARTDriver sitlUart3Driver(3, &sitlState);
 static SITLUARTDriver sitlUart4Driver(4, &sitlState);
 
-static SITLUtil utilInstance;
+static SITLUtil utilInstance(&sitlState);
 
 HAL_SITL::HAL_SITL() :
     AP_HAL::HAL(

libraries/AP_HAL_SITL/SITL_State.h

@@ -31,6 +31,7 @@ class HAL_SITL;
 
 class HALSITL::SITL_State {
     friend class HALSITL::SITLScheduler;
+    friend class HALSITL::SITLUtil;
 public:
     void init(int argc, char * const argv[]);
 
@@ -213,6 +214,8 @@ private:
     
     // TCP address to connect uartC to
     const char *_client_address;
+
+    const char *defaults_path = HAL_PARAM_DEFAULTS_PATH;
 };
 
 #endif // CONFIG_HAL_BOARD == HAL_BOARD_SITL

libraries/AP_HAL_SITL/SITL_cmdline.cpp

@@ -55,6 +55,7 @@ void SITL_State::_usage(void)
            "\t--uartC device     set device string for UARTC\n"
            "\t--uartD device     set device string for UARTD\n"
            "\t--uartE device     set device string for UARTE\n"
+           "\t--defaults path    set path to defaults file\n"
         );
 }
 
@@ -120,6 +121,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         CMDLINE_UARTD,
         CMDLINE_UARTE,
         CMDLINE_ADSB,
+        CMDLINE_DEFAULTS
     };
 
     const struct GetOptLong::option options[] = {
@@ -142,6 +144,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         {"gimbal",          false,  0, CMDLINE_GIMBAL},
         {"adsb",            false,  0, CMDLINE_ADSB},
         {"autotest-dir",    true,   0, CMDLINE_AUTOTESTDIR},
+        {"defaults",        true,   0, CMDLINE_DEFAULTS},
         {0, false, 0, 0}
     };
 
@@ -197,6 +200,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         case CMDLINE_AUTOTESTDIR:
             autotest_dir = strdup(gopt.optarg);
             break;
+        case CMDLINE_DEFAULTS:
+            defaults_path = strdup(gopt.optarg);
+            break;
 
         case CMDLINE_UARTA:
         case CMDLINE_UARTB:

libraries/AP_HAL_SITL/Util.h

@@ -8,6 +8,9 @@
 
 class HALSITL::SITLUtil : public AP_HAL::Util {
 public:
+    SITLUtil(SITL_State *_sitlState) :
+        sitlState(_sitlState) {}
+    
     bool run_debug_shell(AP_HAL::BetterStream *stream) {
         return false;
     }
@@ -22,6 +25,13 @@ public:
 
     // create a new semaphore
     AP_HAL::Semaphore *new_semaphore(void) override { return new HALSITL::Semaphore; }
+
+    // get path to custom defaults file for AP_Param
+    const char* get_custom_defaults_file() const override {
+        return sitlState->defaults_path;
+    }
+private:
+    SITL_State *sitlState;
 };
 
 #endif // __AP_HAL_SITL_UTIL_H__