From c0c61660b03ad93d5aa26bb968e985251231f597 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Fri, 17 Jan 2020 21:19:40 +0000
Subject: [PATCH] SITL: quadplane updates

---
 libraries/SITL/SIM_Aircraft.h    | 10 ++++++++++
 libraries/SITL/SIM_Multicopter.h |  5 +++++
 libraries/SITL/SIM_QuadPlane.h   |  7 +++++++
 3 files changed, 22 insertions(+)

diff --git a/libraries/SITL/SIM_Aircraft.h b/libraries/SITL/SIM_Aircraft.h
index 225b3aaaff..2e5f4248ad 100644
--- a/libraries/SITL/SIM_Aircraft.h
+++ b/libraries/SITL/SIM_Aircraft.h
@@ -84,6 +84,16 @@ public:
     // get frame rate of model in Hz
     float get_rate_hz(void) const { return rate_hz; }
 
+    // get number of motors for model
+    uint16_t get_num_motors() const {
+        return num_motors;
+    }
+
+    // get motor offset for model
+    virtual uint16_t get_motors_offset() const {
+        return 0;
+    }
+
     const Vector3f &get_gyro(void) const {
         return gyro;
     }
diff --git a/libraries/SITL/SIM_Multicopter.h b/libraries/SITL/SIM_Multicopter.h
index fa9a869358..bac5b6a80a 100644
--- a/libraries/SITL/SIM_Multicopter.h
+++ b/libraries/SITL/SIM_Multicopter.h
@@ -34,6 +34,11 @@ public:
     /* update model by one time step */
     void update(const struct sitl_input &input) override;
 
+    // get motor offset for model
+    virtual uint16_t get_motors_offset() const override {
+        return frame->motor_offset;
+    }
+
     /* static object creator */
     static Aircraft *create(const char *frame_str) {
         return new MultiCopter(frame_str);
diff --git a/libraries/SITL/SIM_QuadPlane.h b/libraries/SITL/SIM_QuadPlane.h
index 38c26a394e..9df0212d4a 100644
--- a/libraries/SITL/SIM_QuadPlane.h
+++ b/libraries/SITL/SIM_QuadPlane.h
@@ -38,6 +38,13 @@ public:
     static Aircraft *create(const char *frame_str) {
         return new QuadPlane(frame_str);
     }
+
+    // get motor offset for model
+    virtual uint16_t get_motors_offset() const override {
+        return frame->motor_offset;
+    }
+
+
 private:
     Frame *frame;
 };