AP_HAL_SITL: setup for DroneCAN driver test build

libraries/AP_HAL_SITL/SITL_State.cpp

@@ -86,7 +86,9 @@ void SITL_State::_sitl_setup()
         sitl_model->set_precland(&_sitl->precland_sim);
         _sitl->i2c_sim.init();
         sitl_model->set_i2c(&_sitl->i2c_sim);
-
+#if AP_TEST_DRONECAN_DRIVERS
+        sitl_model->set_dronecan_device(&_sitl->dronecan_sim);
+#endif
         if (_use_fg_view) {
             fg_socket.connect(_fg_address, _fg_view_port);
         }

libraries/AP_HAL_SITL/system.cpp

@@ -196,12 +196,20 @@ uint64_t millis64()
 
 uint32_t native_micros()
 {
+#if AP_TEST_DRONECAN_DRIVERS
+    return micros();
+#else
     return native_micros64() & 0xFFFFFFFF;
+#endif
 }
 
 uint32_t native_millis()
 {
+#if AP_TEST_DRONECAN_DRIVERS
+    return millis();
+#else
     return native_millis64() & 0xFFFFFFFF;
+#endif
 }
 
 /*
@@ -209,28 +217,40 @@ uint32_t native_millis()
  */
 uint16_t native_millis16()
 {
+#if AP_TEST_DRONECAN_DRIVERS
+    return millis16();
+#else
     return native_millis64() & 0xFFFF;
+#endif
 }
     
 
 uint64_t native_micros64()
 {
+#if AP_TEST_DRONECAN_DRIVERS
+    return micros64();
+#else
     struct timeval tp;
     gettimeofday(&tp, nullptr);
     uint64_t ret = 1.0e6 * ((tp.tv_sec + (tp.tv_usec * 1.0e-6)) -
                             (state.start_time.tv_sec +
                              (state.start_time.tv_usec * 1.0e-6)));
     return ret;
+#endif
 }
 
 uint64_t native_millis64()
 {
+#if AP_TEST_DRONECAN_DRIVERS
+    return millis64();
+#else
     struct timeval tp;
     gettimeofday(&tp, nullptr);
     uint64_t ret = 1.0e3*((tp.tv_sec + (tp.tv_usec*1.0e-6)) -
                           (state.start_time.tv_sec +
                            (state.start_time.tv_usec*1.0e-6)));
     return ret;
+#endif
 }