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AP_HAL_SITL: track simulated ADSB vehicles relative to simulation origin

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removes dependence on ArduPilot AHRS library

Also removes vehicles based off vehicle simulated position rather than distance-from-origin, so you always have company
This commit is contained in:
Peter Barker 2023-10-31 19:09:11 +11:00 committed by Peter Barker
parent 9087bb6b89
commit c953b4e512
2 changed files with 2 additions and 0 deletions
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1
libraries/AP_HAL_SITL/SITL_Periph_State.cpp
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@ -294,6 +294,7 @@ SimMCast::SimMCast(const char *frame_str) :
void SimMCast::update(const struct sitl_input &input) void SimMCast::update(const struct sitl_input &input)
{ {
multicast_read(); multicast_read();
update_home();
update_external_payload(input); update_external_payload(input);
auto *_sitl = AP::sitl(); auto *_sitl = AP::sitl();

1
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -346,6 +346,7 @@ void SITL_State::_fdm_input_local(void)
multicast_servo_update(input); multicast_servo_update(input);
// update the model // update the model
sitl_model->update_home();
sitl_model->update_model(input); sitl_model->update_model(input);
// get FDM output from the model // get FDM output from the model