mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-05 15:38:29 -04:00
2bed1dcfd5
this adds register level emulation of the ADS7844 and the RC input/output hardware on the APM1, allowing for SITL testing without enabling HIL in the code
25 lines
769 B
C
25 lines
769 B
C
#ifndef _DESKTOP_H
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#define _DESKTOP_H
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struct desktop_info {
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bool slider; // slider switch state, True means CLI mode
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struct timeval sketch_start_time;
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bool quadcopter; // use quadcopter outputs
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};
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extern struct desktop_info desktop_state;
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void desktop_serial_select_setup(fd_set *fds, int *fd_high);
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void sitl_input(void);
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void sitl_setup(void);
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int sitl_gps_pipe(void);
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ssize_t sitl_gps_read(int fd, void *buf, size_t count);
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void sitl_update_compass(float heading, float roll, float pitch, float yaw);
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void sitl_update_gps(float latitude, float longitude, float altitude,
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float speedN, float speedE);
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void sitl_update_adc(float roll, float pitch, float yaw, float airspeed);
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void sitl_setup_adc(void);
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void sitl_update_barometer(float altitude);
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#endif
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