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AP_HAL: SIMState: do a single nullptr check in SIMState servo sim

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mirrors if c1016ae52e
This commit is contained in:
Peter Barker 2025-01-23 10:20:53 +11:00 committed by Thomas Watson
parent 54ab1f044e
commit f92fde806f
1 changed files with 9 additions and 7 deletions
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16
libraries/AP_HAL/SIMState.cpp
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@ -274,6 +274,10 @@ void SIMState::fdm_input_local(void)
*/
void SIMState::_simulator_servos(struct sitl_input &input)
{
if (_sitl == nullptr) {
return;
}
// output at chosen framerate
uint32_t now = AP_HAL::micros();
@ -288,7 +292,7 @@ void SIMState::_simulator_servos(struct sitl_input &input)
// give 5 seconds to calibrate airspeed sensor at 0 wind speed
if (wind_start_delay_micros == 0) {
wind_start_delay_micros = now;
} else if (_sitl && (now - wind_start_delay_micros) > 5000000 ) {
} else if ((now - wind_start_delay_micros) > 5000000) {
// The EKF does not like step inputs so this LPF keeps it happy.
wind_speed = _sitl->wind_speed_active = (0.95f*_sitl->wind_speed_active) + (0.05f*_sitl->wind_speed);
wind_direction = _sitl->wind_direction_active = (0.95f*_sitl->wind_direction_active) + (0.05f*_sitl->wind_direction);
@ -317,7 +321,7 @@ void SIMState::_simulator_servos(struct sitl_input &input)
input.wind.speed = wind_speed;
input.wind.direction = wind_direction;
input.wind.turbulence = _sitl?_sitl->wind_turbulance:0;
input.wind.turbulence = _sitl->wind_turbulance;
input.wind.dir_z = wind_dir_z;
for (uint8_t i=0; i<SITL_NUM_CHANNELS; i++) {
@ -328,12 +332,11 @@ void SIMState::_simulator_servos(struct sitl_input &input)
}
}
if (_sitl != nullptr) {
{
// FETtec ESC simulation support. Input signals of 1000-2000
// are positive thrust, 0 to 1000 are negative thrust. Deeper
// changes required to support negative thrust - potentially
// adding a field to input.
if (_sitl != nullptr) {
if (_sitl->fetteconewireesc_sim.enabled()) {
_sitl->fetteconewireesc_sim.update_sitl_input_pwm(input);
for (uint8_t i=0; i<ARRAY_SIZE(input.servos); i++) {
@ -342,7 +345,6 @@ void SIMState::_simulator_servos(struct sitl_input &input)
}
}
}
}
}
#if AP_SIM_VOLZ_ENABLED
@ -360,8 +362,8 @@ void SIMState::_simulator_servos(struct sitl_input &input)
float voltage = 0;
_current = 0;
if (_sitl != nullptr) {
{
if (_sitl->state.battery_voltage <= 0) {
} else {
// FDM provides voltage and current