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GCS_MAVLink: send sim_state msg

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This commit is contained in:
Pierre Kancir 2021-01-15 08:54:37 +01:00 committed by Andrew Tridgell
parent c1f1208c89
commit 30a4747898
3 changed files with 19 additions and 0 deletions
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1
libraries/GCS_MAVLink/GCS.h
View File

@ -242,6 +242,7 @@ public:
virtual void send_scaled_pressure3(); // allow sub to override this
void send_sensor_offsets();
virtual void send_simstate() const;
void send_sim_state() const;
void send_ahrs();
void send_battery2();
void send_opticalflow();

17
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -791,6 +791,7 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
{ MAVLINK_MSG_ID_FENCE_STATUS, MSG_FENCE_STATUS},
{ MAVLINK_MSG_ID_AHRS, MSG_AHRS},
{ MAVLINK_MSG_ID_SIMSTATE, MSG_SIMSTATE},
{ MAVLINK_MSG_ID_SIM_STATE, MSG_SIM_STATE},
{ MAVLINK_MSG_ID_AHRS2, MSG_AHRS2},
{ MAVLINK_MSG_ID_HWSTATUS, MSG_HWSTATUS},
{ MAVLINK_MSG_ID_WIND, MSG_WIND},
@ -3524,6 +3525,17 @@ void GCS_MAVLINK::send_simstate() const
#endif
}
void GCS_MAVLINK::send_sim_state() const
{
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
SITL::SITL *sitl = AP::sitl();
if (sitl == nullptr) {
return;
}
sitl->sim_state_send(get_chan());
#endif
}
MAV_RESULT GCS_MAVLINK::handle_command_flash_bootloader(const mavlink_command_long_t &packet)
{
if (uint32_t(packet.param5) != 290876) {
@ -4721,6 +4733,11 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
send_simstate();
break;
case MSG_SIM_STATE:
CHECK_PAYLOAD_SIZE(SIM_STATE);
send_sim_state();
break;
case MSG_SYS_STATUS:
CHECK_PAYLOAD_SIZE(SYS_STATUS);
send_sys_status();

1
libraries/GCS_MAVLink/ap_message.h
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@ -40,6 +40,7 @@ enum ap_message : uint8_t {
MSG_FENCE_STATUS,
MSG_AHRS,
MSG_SIMSTATE,
MSG_SIM_STATE,
MSG_AHRS2,
MSG_HWSTATUS,
MSG_WIND,