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AP_HAL_SITL: rename APMrover2 to Rover

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This commit is contained in:
Peter Barker 2020-03-27 11:51:15 +11:00 committed by Randy Mackay
parent 7d7a7d126c
commit e67347f011
3 changed files with 6 additions and 6 deletions
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6
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -630,7 +630,7 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
if (_vehicle == ArduPlane) {
pwm_output[0] = pwm_output[1] = pwm_output[3] = 1500;
}
if (_vehicle == APMrover2) {
if (_vehicle == Rover) {
pwm_output[0] = pwm_output[1] = pwm_output[2] = pwm_output[3] = 1500;
}
}
@ -695,7 +695,7 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
engine_fail = 0;
}
// apply engine multiplier to motor defined by the SIM_ENGINE_FAIL parameter
if (_vehicle != APMrover2) {
if (_vehicle != Rover) {
input.servos[engine_fail] = ((input.servos[engine_fail]-1000) * engine_mul) + 1000;
} else {
input.servos[engine_fail] = static_cast<uint16_t>(((input.servos[engine_fail] - 1500) * engine_mul) + 1500);
@ -722,7 +722,7 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
} else {
throttle = hover_throttle;
}
} else if (_vehicle == APMrover2) {
} else if (_vehicle == Rover) {
input.servos[2] = static_cast<uint16_t>(constrain_int16(input.servos[2], 1000, 2000));
input.servos[0] = static_cast<uint16_t>(constrain_int16(input.servos[0], 1000, 2000));
throttle = fabsf((input.servos[2] - 1500) / 500.0f);

2
libraries/AP_HAL_SITL/SITL_State.h
View File

@ -54,7 +54,7 @@ public:
enum vehicle_type {
ArduCopter,
APMrover2,
Rover,
ArduPlane,
ArduSub
};

4
libraries/AP_HAL_SITL/SITL_cmdline.cpp
View File

@ -421,8 +421,8 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
if (_framerate == 0) {
_framerate = 200;
}
} else if (strcmp(SKETCH, "APMrover2") == 0) {
_vehicle = APMrover2;
} else if (strcmp(SKETCH, "Rover") == 0) {
_vehicle = Rover;
if (_framerate == 0) {
_framerate = 50;
}