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SYS_HITL: reserve value -1 for external HITL

This commit is contained in:
Beat Küng 2020-06-03 11:46:17 +02:00 committed by Daniel Agar
parent 867453eada
commit 5ce006dd8b
2 changed files with 6 additions and 1 deletions
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2
ROMFS/px4fmu_common/init.d/airframes/4070_aerofc
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@ -70,7 +70,7 @@ then
param set SER_TEL2_BAUD 921600 param set SER_TEL2_BAUD 921600
fi fi
if param compare SYS_HITL 0 if ! param greater SYS_HITL 0
then then
tap_esc start -d /dev/ttyS0 -n 4 tap_esc start -d /dev/ttyS0 -n 4
usleep 300000 usleep 300000

5
src/lib/systemlib/system_params.c
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@ -70,6 +70,11 @@ PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);
* or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks. * or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks.
* When disabled the same vehicle can be flown normally. * When disabled the same vehicle can be flown normally.
* *
* Set to 'external HITL', if the system should perform as if it were a real
* vehicle (the only difference to a real system is then only the parameter
* value, which can be used for log analysis).
*
* @value -1 external HITL
* @value 0 HITL and SIH disabled * @value 0 HITL and SIH disabled
* @value 1 HITL enabled * @value 1 HITL enabled
* @value 2 SIH enabled * @value 2 SIH enabled