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Plane: more fixes for SITL and new AP_Param startup

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This commit is contained in:
Andrew Tridgell 2012-12-14 09:57:46 +11:00
parent 8916b280fd
commit 678947c65d
3 changed files with 11 additions and 7 deletions
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10
ArduPlane/ArduPlane.pde
View File

@ -151,6 +151,7 @@ static AP_ADC_ADS7844 adc;
# if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
AP_Baro_BMP085_HIL barometer;
AP_Compass_HIL compass;
AP_InertialSensor_Stub ins;
#else
#if CONFIG_BARO == AP_BARO_BMP085
@ -190,7 +191,7 @@ AP_GPS_None g_gps_driver(NULL);
# if CONFIG_INS_TYPE == CONFIG_INS_MPU6000
AP_InertialSensor_MPU6000 ins;
# else
# elif CONFIG_HAL_BOARD != HAL_BOARD_AVR_SITL
AP_InertialSensor_Oilpan ins( &adc );
#endif // CONFIG_INS_TYPE
@ -643,11 +644,14 @@ AP_Mount camera_mount2(&current_loc, g_gps, &ahrs, 1);
// Top-level logic
////////////////////////////////////////////////////////////////////////////////
// setup the var_info table
AP_Param param_loader(var_info, WP_START_BYTE);
void setup() {
cliSerial = hal.console;
// setup the default values of variables listed in var_info[]
AP_Param::setup_sketch_defaults(var_info, WP_START_BYTE);
// load the default values of variables listed in var_info[]
AP_Param::setup_sketch_defaults();
rssi_analog_source = hal.analogin->channel(ANALOG_INPUT_NONE, 0.25);

6
ArduPlane/GCS_Mavlink.pde
View File

@ -446,7 +446,7 @@ static void NOINLINE send_ahrs(mavlink_channel_t chan)
ahrs.get_error_yaw());
}
#ifdef DESKTOP_BUILD
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
// report simulator state
static void NOINLINE send_simstate(mavlink_channel_t chan)
{
@ -459,7 +459,7 @@ static void NOINLINE send_hwstatus(mavlink_channel_t chan)
mavlink_msg_hwstatus_send(
chan,
board_voltage(),
#ifdef DESKTOP_BUILD
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
0);
#else
hal.i2c->lockup_count());
@ -642,7 +642,7 @@ static bool mavlink_try_send_message(mavlink_channel_t chan, enum ap_message id,
break;
case MSG_SIMSTATE:
#ifdef DESKTOP_BUILD
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
CHECK_PAYLOAD_SIZE(SIMSTATE);
send_simstate(chan);
#endif

2
ArduPlane/Parameters.pde
View File

@ -684,7 +684,7 @@ const AP_Param::Info var_info[] PROGMEM = {
GOBJECT(camera_mount2, "MNT2_", AP_Mount),
#endif
#ifdef DESKTOP_BUILD
#if CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
// @Group: SIM_
// @Path: ../libraries/SITL/SITL.cpp
GOBJECT(sitl, "SIM_", SITL),