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SITL: Add parameters for SFML_Joystick

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Michael du Breuil 2020-11-12 14:12:36 -07:00 committed by Peter Barker
parent c8e604a730
commit 892fb74c96
2 changed files with 39 additions and 0 deletions
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28
libraries/SITL/SITL.cpp
View File

@ -27,6 +27,14 @@
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Logger/AP_Logger.h>
#ifdef SFML_JOYSTICK
#ifdef HAVE_SFML_GRAPHICS_HPP
#include <SFML/Window/Joystick.hpp>
#elif HAVE_SFML_GRAPHIC_H
#include <SFML/Window/Joystick.h>
#endif
#endif // SFML_JOYSTICK
extern const AP_HAL::HAL& hal;
namespace SITL {
@ -253,6 +261,10 @@ const AP_Param::GroupInfo SITL::var_info3[] = {
// user settable common airspeed parameters
AP_GROUPINFO("ARSPD_SIGN", 62, SITL, arspd_signflip, 0),
#ifdef SFML_JOYSTICK
AP_SUBGROUPEXTENSION("", 63, SITL, var_sfml_joystick),
#endif // SFML_JOYSTICK
AP_GROUPEND
};
@ -332,6 +344,22 @@ const AP_Param::GroupInfo SITL::var_mag[] = {
#endif
AP_GROUPEND
};
#ifdef SFML_JOYSTICK
const AP_Param::GroupInfo SITL::var_sfml_joystick[] = {
AP_GROUPINFO("SF_JS_STICK", 1, SITL, sfml_joystick_id, 0),
AP_GROUPINFO("SF_JS_AXIS1", 2, SITL, sfml_joystick_axis[0], sf::Joystick::Axis::X),
AP_GROUPINFO("SF_JS_AXIS2", 3, SITL, sfml_joystick_axis[1], sf::Joystick::Axis::Y),
AP_GROUPINFO("SF_JS_AXIS3", 4, SITL, sfml_joystick_axis[2], sf::Joystick::Axis::Z),
AP_GROUPINFO("SF_JS_AXIS4", 5, SITL, sfml_joystick_axis[3], sf::Joystick::Axis::U),
AP_GROUPINFO("SF_JS_AXIS5", 6, SITL, sfml_joystick_axis[4], sf::Joystick::Axis::V),
AP_GROUPINFO("SF_JS_AXIS6", 7, SITL, sfml_joystick_axis[5], sf::Joystick::Axis::R),
AP_GROUPINFO("SF_JS_AXIS7", 8, SITL, sfml_joystick_axis[6], sf::Joystick::Axis::PovX),
AP_GROUPINFO("SF_JS_AXIS8", 9, SITL, sfml_joystick_axis[7], sf::Joystick::Axis::PovY),
AP_GROUPEND
};
#endif //SFML_JOYSTICK
/* report SITL state via MAVLink */
void SITL::simstate_send(mavlink_channel_t chan)

11
libraries/SITL/SITL.h
View File

@ -95,6 +95,9 @@ public:
AP_Param::setup_object_defaults(this, var_info3);
AP_Param::setup_object_defaults(this, var_gps);
AP_Param::setup_object_defaults(this, var_mag);
#ifdef SFML_JOYSTICK
AP_Param::setup_object_defaults(this, var_sfml_joystick);
#endif // SFML_JOYSTICK
if (_singleton != nullptr) {
AP_HAL::panic("Too many SITL instances");
}
@ -143,6 +146,9 @@ public:
static const struct AP_Param::GroupInfo var_info3[];
static const struct AP_Param::GroupInfo var_gps[];
static const struct AP_Param::GroupInfo var_mag[];
#ifdef SFML_JOYSTICK
static const struct AP_Param::GroupInfo var_sfml_joystick[];
#endif //SFML_JOYSTICK
// Board Orientation (and inverse)
Matrix3f ahrs_rotation;
@ -224,6 +230,11 @@ public:
AP_Float buoyancy; // submarine buoyancy in Newtons
AP_Int16 loop_rate_hz;
#ifdef SFML_JOYSTICK
AP_Int8 sfml_joystick_id;
AP_Int8 sfml_joystick_axis[8];
#endif
// EFI type
enum EFIType {
EFI_TYPE_NONE = 0,