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SITL: support up to 12 actuators with RealFlight8

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the new beta release supports up to 12 channels
This commit is contained in:
Andrew Tridgell 2018-11-27 13:03:07 +11:00
parent 2e98de3292
commit e3cd081064
1 changed files with 13 additions and 4 deletions
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17
libraries/SITL/SIM_FlightAxis.cpp
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@ -281,8 +281,9 @@ void FlightAxis::exchange_data(const struct sitl_input &input)
controller_started = true;
}
float scaled_servos[8];
for (uint8_t i=0; i<8; i++) {
// maximum number of servos to send is 12 with new FlightAxis
float scaled_servos[12];
for (uint8_t i=0; i<ARRAY_SIZE(scaled_servos); i++) {
scaled_servos[i] = (input.servos[i] - 1000) / 1000.0f;
}
@ -312,7 +313,7 @@ void FlightAxis::exchange_data(const struct sitl_input &input)
<soap:Body>
<ExchangeData>
<pControlInputs>
<m-selectedChannels>255</m-selectedChannels>
<m-selectedChannels>4095</m-selectedChannels>
<m-channelValues-0to1>
<item>%.4f</item>
<item>%.4f</item>
@ -322,6 +323,10 @@ void FlightAxis::exchange_data(const struct sitl_input &input)
<item>%.4f</item>
<item>%.4f</item>
<item>%.4f</item>
<item>%.4f</item>
<item>%.4f</item>
<item>%.4f</item>
<item>%.4f</item>
</m-channelValues-0to1>
</pControlInputs>
</ExchangeData>
@ -334,7 +339,11 @@ void FlightAxis::exchange_data(const struct sitl_input &input)
scaled_servos[4],
scaled_servos[5],
scaled_servos[6],
scaled_servos[7]);
scaled_servos[7],
scaled_servos[8],
scaled_servos[9],
scaled_servos[10],
scaled_servos[11]);
if (reply) {
WITH_SEMAPHORE(mutex);