aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

SITL: make it possible to use SITL-HIL

Browse Source 
strangely enough, using HIL in SITL is a great way to debug HIL!
This commit is contained in:
Andrew Tridgell 2014-08-09 21:23:19 +10:00
parent f8ceccce32
commit bf0ce79176
1 changed files with 14 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
libraries/AP_HAL_AVR_SITL/SITL_State.cpp
View File

@ -204,7 +204,9 @@ void SITL_State::_sitl_setup(void)
inet_pton(AF_INET, "127.0.0.1", &_rcout_addr.sin_addr);
_setup_timer();
#ifndef HIL_MODE
_setup_fdm();
#endif
fprintf(stdout, "Starting SITL input\n");
// find the barometer object if it exists
@ -215,14 +217,17 @@ void SITL_State::_sitl_setup(void)
if (_sitl != NULL) {
// setup some initial values
#ifndef HIL_MODE
_update_barometer(_initial_height);
_update_ins(0, 0, 0, 0, 0, 0, 0, 0, -9.8, 0, _initial_height);
_update_compass(0, 0, 0);
_update_gps(0, 0, 0, 0, 0, 0, false);
#endif
}
}
#ifndef HIL_MODE
/*
setup a SITL FDM listening UDP port
*/
@ -257,6 +262,7 @@ void SITL_State::_setup_fdm(void)
AVR_SITL::SITLUARTDriver::_set_nonblocking(_sitl_fd);
}
#endif
/*
@ -301,15 +307,19 @@ void SITL_State::_timer_handler(int signum)
new_rc_input = true;
}
#ifndef HIL_MODE
/* check for packet from flight sim */
_fdm_input();
// send RC output to flight sim
_simulator_output();
#endif
if (_update_count == 0 && _sitl != NULL) {
#ifndef HIL_MODE
_update_gps(0, 0, 0, 0, 0, 0, false);
_update_barometer(0);
#endif
_scheduler->timer_event();
_scheduler->sitl_end_atomic();
in_timer = false;
@ -325,6 +335,7 @@ void SITL_State::_timer_handler(int signum)
last_update_count = _update_count;
if (_sitl != NULL) {
#ifndef HIL_MODE
_update_gps(_sitl->state.latitude, _sitl->state.longitude,
_sitl->state.altitude,
_sitl->state.speedN, _sitl->state.speedE, _sitl->state.speedD,
@ -335,6 +346,7 @@ void SITL_State::_timer_handler(int signum)
_sitl->state.airspeed, _sitl->state.altitude);
_update_barometer(_sitl->state.altitude);
_update_compass(_sitl->state.rollDeg, _sitl->state.pitchDeg, _sitl->state.yawDeg);
#endif
}
// trigger all APM timers. We do this last as it can re-enable
@ -345,7 +357,7 @@ void SITL_State::_timer_handler(int signum)
in_timer = false;
}
#ifndef HIL_MODE
/*
check for a SITL FDM packet
*/
@ -412,6 +424,7 @@ void SITL_State::_fdm_input(void)
}
}
#endif
/*
apply servo rate filtering