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HAL_SITL: enable --gimbal option

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instantiates a MAVLink gimbal
This commit is contained in:
Andrew Tridgell 2015-05-25 12:11:16 +10:00
parent 7f5b206c55
commit e7abc07898
3 changed files with 19 additions and 2 deletions
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7
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -89,6 +89,9 @@ void SITL_State::_sitl_setup(void)
_update_compass(0, 0, 0);
_update_gps(0, 0, 0, 0, 0, 0, false);
#endif
if (enable_gimbal) {
gimbal = new Gimbal(_sitl->state);
}
}
if (_synthetic_clock_mode) {
@ -312,6 +315,10 @@ void SITL_State::_fdm_input_local(void)
// get FDM output from the model
sitl_model->fill_fdm(_sitl->state);
if (gimbal != NULL) {
gimbal->update();
}
// update simulation time
hal.scheduler->stop_clock(_sitl->state.timestamp_us);

6
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -22,7 +22,7 @@
#include "../AP_OpticalFlow/AP_OpticalFlow.h"
#include "../AP_Terrain/AP_Terrain.h"
#include "../SITL/SITL.h"
#include "../SITL/SIM_Multicopter.h"
#include "../SITL/SIM_Gimbal.h"
class HAL_SITL;
@ -191,6 +191,10 @@ private:
// internal SITL model
Aircraft *sitl_model;
// simulated gimbal
bool enable_gimbal;
Gimbal *gimbal;
// TCP address to connect uartC to
const char *_client_address;
};

8
libraries/AP_HAL_SITL/SITL_cmdline.cpp
View File

@ -41,6 +41,7 @@ void SITL_State::_usage(void)
"\t--console use console instead of TCP ports\n"
"\t--instance N set instance of SITL (adds 10*instance to all port numbers)\n"
"\t--speedup SPEEDUP set simulation speedup\n"
"\t--gimbal enable simulated MAVLink gimbal\n"
);
}
@ -84,7 +85,8 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
_instance = 0;
enum long_options {
CMDLINE_CLIENT=0
CMDLINE_CLIENT=0,
CMDLINE_GIMBAL
};
const struct GetOptLong::option options[] = {
@ -99,6 +101,7 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
{"home", true, 0, 'O'},
{"model", true, 0, 'M'},
{"client", true, 0, CMDLINE_CLIENT},
{"gimbal", false, 0, CMDLINE_GIMBAL},
{0, false, 0, 0}
};
@ -145,6 +148,9 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
case CMDLINE_CLIENT:
_client_address = gopt.optarg;
break;
case CMDLINE_GIMBAL:
enable_gimbal = true;
break;
default:
_usage();
exit(1);