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HAL_SITL: enable ADSB simulator in SITL periph

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This commit is contained in:
Andrew Tridgell 2023-09-29 14:11:22 +10:00
parent 92c0e7f860
commit bf229b3dc1
2 changed files with 7 additions and 1 deletions
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6
libraries/AP_HAL_SITL/SITL_Periph_State.cpp
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@ -270,6 +270,12 @@ void SimMCast::multicast_read(void)
base_time_us += (_sitl->state.timestamp_us - state.timestamp_us); base_time_us += (_sitl->state.timestamp_us - state.timestamp_us);
} }
_sitl->state = state; _sitl->state = state;
location.lat = state.latitude*1.0e7;
location.lng = state.longitude*1.0e7;
location.alt = state.altitude*1.0e2;
if (home.is_zero()) {
home = location;
}
hal.scheduler->stop_clock(_sitl->state.timestamp_us + base_time_us); hal.scheduler->stop_clock(_sitl->state.timestamp_us + base_time_us);
HALSITL::Scheduler::timer_event(); HALSITL::Scheduler::timer_event();
if (servo_fd == -1) { if (servo_fd == -1) {

2
libraries/AP_HAL_SITL/SITL_Periph_State.h
View File

@ -66,7 +66,7 @@ public:
"none:0", "none:0",
"GPS1", "GPS1",
"none:1", "none:1",
"none:2", "sim:adsb",
"none:3", "none:3",
"none:4", "none:4",
"none:5", "none:5",