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SITL: expose update rate to HAL_SITL

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and fixed dataflash reference loop
This commit is contained in:
Andrew Tridgell 2015-11-16 15:10:29 +11:00
parent 95ca0b39a8
commit e1cb9beeef
3 changed files with 15 additions and 5 deletions
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3
libraries/SITL/SIM_Aircraft.h
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@ -72,6 +72,9 @@ public:
/* fill a sitl_fdm structure from the simulator state */
void fill_fdm(struct sitl_fdm &fdm) const;
// get frame rate of model in Hz
float get_rate_hz(void) const { return rate_hz; }
protected:
Location home;
Location location;

5
libraries/SITL/SITL.cpp
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@ -23,6 +23,7 @@
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <DataFlash/DataFlash.h>
extern const AP_HAL::HAL& hal;
@ -104,7 +105,7 @@ void SITL::simstate_send(mavlink_channel_t chan)
}
/* report SITL state to DataFlash */
void SITL::Log_Write_SIMSTATE(DataFlash_Class &DataFlash)
void SITL::Log_Write_SIMSTATE(DataFlash_Class *DataFlash)
{
float yaw;
@ -124,7 +125,7 @@ void SITL::Log_Write_SIMSTATE(DataFlash_Class &DataFlash)
lat : (int32_t)(state.latitude*1.0e7),
lng : (int32_t)(state.longitude*1.0e7)
};
DataFlash.WriteBlock(&pkt, sizeof(pkt));
DataFlash->WriteBlock(&pkt, sizeof(pkt));
}
/*

12
libraries/SITL/SITL.h
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@ -2,9 +2,10 @@
#pragma once
#include <DataFlash/DataFlash.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
class DataFlash_Class;
namespace SITL {
struct PACKED sitl_fdm {
@ -26,7 +27,6 @@ struct PACKED sitl_fdm {
// number of rc output channels
#define SITL_NUM_CHANNELS 14
class SITL {
public:
@ -49,6 +49,12 @@ public:
struct sitl_fdm state;
// loop update rate in Hz
uint16_t update_rate_hz;
// true when motors are active
bool motors_on;
static const struct AP_Param::GroupInfo var_info[];
// noise levels for simulated sensors
@ -105,7 +111,7 @@ public:
void simstate_send(mavlink_channel_t chan);
void Log_Write_SIMSTATE(DataFlash_Class &dataflash);
void Log_Write_SIMSTATE(DataFlash_Class *dataflash);
// convert a set of roll rates from earth frame to body frame
static void convert_body_frame(double rollDeg, double pitchDeg,