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AP_HAL_SITL: add support for simulated RPLidarA2

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This commit is contained in:
Peter Barker 2019-11-21 13:11:42 +11:00 committed by Peter Barker
parent f5320e8816
commit be9fc57e8f
2 changed files with 17 additions and 0 deletions
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14
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -336,6 +336,12 @@ 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, "rplidara2")) {
if (rplidara2 != nullptr) {
AP_HAL::panic("Only one rplidara2 at a time");
}
rplidara2 = new SITL::PS_RPLidarA2();
return rplidara2->fd();
}
AP_HAL::panic("unknown simulated device: %s", name);
@ -417,6 +423,11 @@ 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, "rplidara2")) {
if (rplidara2 == nullptr) {
AP_HAL::panic("No rplidara2 created");
}
return rplidara2->write_fd();
}
AP_HAL::panic("unknown simulated device: %s", name);
}
@ -603,6 +614,9 @@ void SITL_State::_fdm_input_local(void)
// if (frsky_sportpassthrough != nullptr) {
// frsky_sportpassthrough->update();
// }
if (rplidara2 != nullptr) {
rplidara2->update(sitl_model->get_location());
}
if (_sitl) {
_sitl->efi_ms.update();

3
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -41,6 +41,7 @@
#include <SITL/SIM_Frsky_D.h>
// #include <SITL/SIM_Frsky_SPort.h>
// #include <SITL/SIM_Frsky_SPortPassthrough.h>
#include <SITL/SIM_PS_RPLidarA2.h>
#include <AP_HAL/utility/Socket.h>
@ -273,6 +274,8 @@ private:
SITL::Frsky_D *frsky_d;
// SITL::Frsky_SPort *frsky_sport;
// SITL::Frsky_SPortPassthrough *frsky_sportpassthrough;
// simulated NMEA rangefinder:
SITL::PS_RPLidarA2 *rplidara2;
// output socket for flightgear viewing
SocketAPM fg_socket{true};