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AP_HAL_SITL: add simulator Hirth EFI

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This commit is contained in:
Peter Barker 2023-11-09 14:56:36 +11:00 committed by Andrew Tridgell
parent 76d07f21f5
commit f134a1df34
2 changed files with 13 additions and 0 deletions
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9
libraries/AP_HAL_SITL/SITL_State_common.cpp
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@ -251,6 +251,12 @@ SITL::SerialDevice *SITL_State_Common::create_serial_sim(const char *name, const
}
efi_ms = new SITL::EFI_MegaSquirt();
return efi_ms;
} else if (streq(name, "hirth")) {
if (efi_hirth != nullptr) {
AP_HAL::panic("Only one hirth at a time");
}
efi_hirth = new SITL::EFI_Hirth();
return efi_hirth;
} else if (streq(name, "VectorNav")) {
if (vectornav != nullptr) {
AP_HAL::panic("Only one VectorNav at a time");
@ -372,6 +378,9 @@ void SITL_State_Common::sim_update(void)
if (efi_ms != nullptr) {
efi_ms->update();
}
if (efi_hirth != nullptr) {
efi_hirth->update();
}
if (frsky_d != nullptr) {
frsky_d->update();

4
libraries/AP_HAL_SITL/SITL_State_common.h
View File

@ -11,6 +11,7 @@
#include <SITL/SIM_Gimbal.h>
#include <SITL/SIM_ADSB.h>
#include <SITL/SIM_ADSB_Sagetech_MXS.h>
#include <SITL/SIM_EFI_Hirth.h>
#include <SITL/SIM_Vicon.h>
#include <SITL/SIM_RF_Benewake_TF02.h>
#include <SITL/SIM_RF_Benewake_TF03.h>
@ -212,6 +213,9 @@ public:
// simulated EFI MegaSquirt device:
SITL::EFI_MegaSquirt *efi_ms;
// simulated EFI MegaSquirt device:
SITL::EFI_Hirth *efi_hirth;
// output socket for flightgear viewing
SocketAPM fg_socket{true};