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SITL: adjust for renaming of Gimbal to SoloGimbal

This commit is contained in:
Peter Barker 2024-07-17 16:46:42 +10:00 committed by Peter Barker
parent 9b3809c89f
commit fc28e2d7b8
3 changed files with 24 additions and 25 deletions
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26
libraries/SITL/SIM_SoloGimbal.cpp
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@ -16,16 +16,14 @@
gimbal simulator class for MAVLink gimbal gimbal simulator class for MAVLink gimbal
*/ */
#include "SIM_Gimbal.h" #include "SIM_SoloGimbal.h"
#if HAL_SIM_GIMBAL_ENABLED #if AP_SIM_SOLOGIMBAL_ENABLED
#include <stdio.h> #include <stdio.h>
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"
#include <AP_InertialSensor/AP_InertialSensor.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
#define GIMBAL_DEBUG 0 #define GIMBAL_DEBUG 0
@ -38,7 +36,7 @@ extern const AP_HAL::HAL& hal;
namespace SITL { namespace SITL {
Gimbal::Gimbal(const struct sitl_fdm &_fdm) : SoloGimbal::SoloGimbal(const struct sitl_fdm &_fdm) :
fdm(_fdm), fdm(_fdm),
target_address("127.0.0.1"), target_address("127.0.0.1"),
target_port(5762), target_port(5762),
@ -58,7 +56,7 @@ Gimbal::Gimbal(const struct sitl_fdm &_fdm) :
/* /*
update the gimbal state update the gimbal state
*/ */
void Gimbal::update(void) void SoloGimbal::update(void)
{ {
// calculate delta time in seconds // calculate delta time in seconds
uint32_t now_us = AP_HAL::micros(); uint32_t now_us = AP_HAL::micros();
@ -213,7 +211,7 @@ static struct gimbal_param {
/* /*
find a parameter structure find a parameter structure
*/ */
struct gimbal_param *Gimbal::param_find(const char *name) struct gimbal_param *SoloGimbal::param_find(const char *name)
{ {
for (uint8_t i=0; i<ARRAY_SIZE(gimbal_params); i++) { for (uint8_t i=0; i<ARRAY_SIZE(gimbal_params); i++) {
if (strncmp(name, gimbal_params[i].name, 16) == 0) { if (strncmp(name, gimbal_params[i].name, 16) == 0) {
@ -226,7 +224,7 @@ struct gimbal_param *Gimbal::param_find(const char *name)
/* /*
send a parameter to flight board send a parameter to flight board
*/ */
void Gimbal::param_send(const struct gimbal_param *p) void SoloGimbal::param_send(const struct gimbal_param *p)
{ {
mavlink_message_t msg; mavlink_message_t msg;
mavlink_param_value_t param_value{}; mavlink_param_value_t param_value{};
@ -252,7 +250,7 @@ void Gimbal::param_send(const struct gimbal_param *p)
/* /*
send a report to the vehicle control code over MAVLink send a report to the vehicle control code over MAVLink
*/ */
void Gimbal::send_report(void) void SoloGimbal::send_report(void)
{ {
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
if (now < 10000) { if (now < 10000) {
@ -262,7 +260,7 @@ void Gimbal::send_report(void)
return; return;
} }
if (!mavlink.connected && mav_socket.connect(target_address, target_port)) { if (!mavlink.connected && mav_socket.connect(target_address, target_port)) {
::printf("Gimbal connected to %s:%u\n", target_address, (unsigned)target_port); ::printf("SoloGimbal connected to %s:%u\n", target_address, (unsigned)target_port);
mavlink.connected = true; mavlink.connected = true;
} }
if (!mavlink.connected) { if (!mavlink.connected) {
@ -297,7 +295,7 @@ void Gimbal::send_report(void)
seen_heartbeat = true; seen_heartbeat = true;
vehicle_component_id = msg.compid; vehicle_component_id = msg.compid;
vehicle_system_id = msg.sysid; vehicle_system_id = msg.sysid;
::printf("Gimbal using srcSystem %u\n", (unsigned)vehicle_system_id); ::printf("SoloGimbal using srcSystem %u\n", (unsigned)vehicle_system_id);
} }
break; break;
} }
@ -319,7 +317,7 @@ void Gimbal::send_report(void)
case MAVLINK_MSG_ID_PARAM_SET: { case MAVLINK_MSG_ID_PARAM_SET: {
mavlink_param_set_t pkt; mavlink_param_set_t pkt;
mavlink_msg_param_set_decode(&msg, &pkt); mavlink_msg_param_set_decode(&msg, &pkt);
printf("Gimbal got PARAM_SET %.16s %f\n", pkt.param_id, pkt.param_value); printf("SoloGimbal got PARAM_SET %.16s %f\n", pkt.param_id, pkt.param_value);
struct gimbal_param *p = param_find(pkt.param_id); struct gimbal_param *p = param_find(pkt.param_id);
if (p) { if (p) {
@ -337,7 +335,7 @@ void Gimbal::send_report(void)
param_send_idx = 0; param_send_idx = 0;
param_send_last_ms = AP_HAL::millis(); param_send_last_ms = AP_HAL::millis();
} }
printf("Gimbal sending %u parameters\n", (unsigned)ARRAY_SIZE(gimbal_params)); printf("SoloGimbal sending %u parameters\n", (unsigned)ARRAY_SIZE(gimbal_params));
break; break;
} }
default: default:
@ -411,4 +409,4 @@ void Gimbal::send_report(void)
} // namespace SITL } // namespace SITL
#endif // HAL_SIM_GIMBAL_ENABLED #endif // AP_SIM_SOLOGIMBAL_ENABLED

19
libraries/SITL/SIM_SoloGimbal.h
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@ -23,23 +23,19 @@ rc 6 1818 # for neutral pitch input
#pragma once #pragma once
#include <AP_HAL/AP_HAL_Boards.h> #include "SIM_config.h"
#ifndef HAL_SIM_GIMBAL_ENABLED #if AP_SIM_SOLOGIMBAL_ENABLED
#define HAL_SIM_GIMBAL_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) && !defined(HAL_BUILD_AP_PERIPH)
#endif
#if HAL_SIM_GIMBAL_ENABLED
#include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_HAL/utility/Socket_native.h> #include <AP_HAL/utility/Socket_native.h>
#include "SIM_Aircraft.h"
namespace SITL { namespace SITL {
class Gimbal { class SoloGimbal {
public: public:
Gimbal(const struct sitl_fdm &_fdm); SoloGimbal(const struct sitl_fdm &_fdm);
void update(void); void update(void);
private: private:
@ -128,4 +124,5 @@ private:
} // namespace SITL } // namespace SITL
#endif // HAL_SIM_GIMBAL_ENABLED #endif // AP_SIM_SOLOGIMBAL_ENABLED

4
libraries/SITL/SIM_config.h
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@ -121,3 +121,7 @@
#ifndef AP_SIM_GLIDER_ENABLED #ifndef AP_SIM_GLIDER_ENABLED
#define AP_SIM_GLIDER_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) #define AP_SIM_GLIDER_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
#endif #endif
#ifndef AP_SIM_SOLOGIMBAL_ENABLED
#define AP_SIM_SOLOGIMBAL_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
#endif