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SITL: read 12 flightaxis input channels

This commit is contained in:
Mark Whitehorn 2020-07-25 10:04:49 -06:00 committed by Andrew Tridgell
parent 7a3e2d11db
commit f9e129e617
4 changed files with 9 additions and 5 deletions
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2
libraries/SITL/SIM_Aircraft.h
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@ -169,7 +169,7 @@ protected:
uint8_t num_motors = 1;
float rpm[12];
uint8_t rcin_chan_count = 0;
float rcin[8];
float rcin[12];
float range = -1.0f; // rangefinder detection in m
struct {

4
libraries/SITL/SIM_FlightAxis.cpp
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@ -484,9 +484,9 @@ void FlightAxis::update(const struct sitl_input &input)
rpm[1] = state.m_propRPM;
/*
the interlink interface supports 8 input channels
the interlink interface supports 12 input channels
*/
rcin_chan_count = 8;
rcin_chan_count = 12;
for (uint8_t i=0; i<rcin_chan_count; i++) {
rcin[i] = state.rcin[i];
}

6
libraries/SITL/SIM_FlightAxis.h
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@ -40,7 +40,7 @@ public:
}
struct state {
double rcin[8];
double rcin[12];
double m_airspeed_MPS;
double m_altitudeASL_MTR;
double m_altitudeAGL_MTR;
@ -103,6 +103,10 @@ public:
{ "item", state.rcin[5] },
{ "item", state.rcin[6] },
{ "item", state.rcin[7] },
{ "item", state.rcin[8] },
{ "item", state.rcin[9] },
{ "item", state.rcin[10] },
{ "item", state.rcin[11] },
{ "m-airspeed-MPS", state.m_airspeed_MPS },
{ "m-altitudeASL-MTR", state.m_altitudeASL_MTR },
{ "m-altitudeAGL-MTR", state.m_altitudeAGL_MTR },

2
libraries/SITL/SITL.h
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@ -56,7 +56,7 @@ struct sitl_fdm {
uint8_t num_motors;
float rpm[12]; // RPM of all motors
uint8_t rcin_chan_count;
float rcin[8]; // RC input 0..1
float rcin[12]; // RC input 0..1
double range; // rangefinder value
Vector3f bodyMagField; // Truth XYZ magnetic field vector in body-frame. Includes motor interference. Units are milli-Gauss.
Vector3f angAccel; // Angular acceleration in degrees/s/s about the XYZ body axes