Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-19 07:08:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_SITL: add LD06 simulator

Browse Source
This commit is contained in:
Peter Barker 2024-12-20 13:38:15 +11:00 committed by Peter Barker
parent 3e2428334b
commit c1ce04a0ce
2 changed files with 20 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
libraries/AP_HAL_SITL/SITL_State_common.cpp
View File

@ -136,6 +136,14 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
crsf = NEW_NOTHROW SITL::CRSF();
return crsf;
#endif
#if AP_SIM_PS_LD06_ENABLED
} else if (streq(name, "ld06")) {
if (ld06 != nullptr) {
AP_HAL::panic("Only one ld06 at a time");
}
ld06 = NEW_NOTHROW SITL::PS_LD06();
return ld06;
#endif // AP_SIM_PS_LD06_ENABLED
#if HAL_SIM_PS_RPLIDARA2_ENABLED
} else if (streq(name, "rplidara2")) {
if (rplidara2 != nullptr) {
@ -314,6 +322,12 @@ void SITL_State_Common::sim_update(void)
}
#endif
#if AP_SIM_PS_LD06_ENABLED
if (ld06 != nullptr) {
ld06->update(sitl_model->get_location());
}
#endif // AP_SIM_PS_LD06_ENABLED
#if HAL_SIM_PS_RPLIDARA2_ENABLED
if (rplidara2 != nullptr) {
rplidara2->update(sitl_model->get_location());

6
libraries/AP_HAL_SITL/SITL_State_common.h
View File

@ -26,6 +26,7 @@
#include <SITL/SIM_CRSF.h>
// #include <SITL/SIM_Frsky_SPort.h>
// #include <SITL/SIM_Frsky_SPortPassthrough.h>
#include <SITL/SIM_PS_LD06.h>
#include <SITL/SIM_PS_RPLidarA2.h>
#include <SITL/SIM_PS_RPLidarA1.h>
#include <SITL/SIM_PS_TeraRangerTower.h>
@ -115,6 +116,11 @@ public:
// SITL::Frsky_SPort *frsky_sport;
// SITL::Frsky_SPortPassthrough *frsky_sportpassthrough;
#if AP_SIM_PS_LD06_ENABLED
// simulated LD06:
SITL::PS_LD06 *ld06;
#endif // AP_SIM_PS_LD06_ENABLED
#if HAL_SIM_PS_RPLIDARA2_ENABLED
// simulated RPLidarA2:
SITL::PS_RPLidarA2 *rplidara2;