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simulator: support accel/gyro instances and stuck failure

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- expand simulator to 3 accels and gyros
 - PX4Accelerometer/PX4Gyroscope switch to old param usage due to copy constructor issues with ModuleParams
This commit is contained in:
Daniel Agar
2020-10-07 13:20:13 -04:00
committed by GitHub
parent c01fabaf11
commit 378cb155d6
10 changed files with 201 additions and 78 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+8 -8
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@@ -2195,8 +2195,8 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
// gyro
if ((hil_sensor.fields_updated & SensorSource::GYRO) == SensorSource::GYRO) {
if (_px4_gyro == nullptr) {
// 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_gyro = new PX4Gyroscope(1311244);
// 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_gyro = new PX4Gyroscope(1310988);
}
if (_px4_gyro != nullptr) {
@@ -2211,8 +2211,8 @@ MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
// accelerometer
if ((hil_sensor.fields_updated & SensorSource::ACCEL) == SensorSource::ACCEL) {
if (_px4_accel == nullptr) {
// 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_accel = new PX4Accelerometer(1311244);
// 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_accel = new PX4Accelerometer(1310988);
}
if (_px4_accel != nullptr) {
@@ -2634,8 +2634,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
/* accelerometer */
{
if (_px4_accel == nullptr) {
// 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_accel = new PX4Accelerometer(1311244);
// 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_accel = new PX4Accelerometer(1310988);
if (_px4_accel == nullptr) {
PX4_ERR("PX4Accelerometer alloc failed");
@@ -2652,8 +2652,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
/* gyroscope */
{
if (_px4_gyro == nullptr) {
// 1311244: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_gyro = new PX4Gyroscope(1311244);
// 1310988: DRV_IMU_DEVTYPE_SIM, BUS: 1, ADDR: 1, TYPE: SIMULATION
_px4_gyro = new PX4Gyroscope(1310988);
if (_px4_gyro == nullptr) {
PX4_ERR("PX4Gyroscope alloc failed");