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simulator_mavlink: Add ESC telemetry

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This commit is contained in:
Alessandro Simovic
2022-05-12 07:58:56 +02:00
committed by Beat Küng
parent 20ccfbb719
commit 4640f395d7
2 changed files with 41 additions and 0 deletions
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src/modules/simulator/simulator.h
+9
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@@ -56,9 +56,12 @@
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/differential_pressure.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/esc_report.h>
#include <uORB/topics/irlock_report.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/optical_flow.h>
@@ -190,6 +193,7 @@ private:
uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
uORB::PublicationMulti<optical_flow_s> _flow_pub{ORB_ID(optical_flow)};
uORB::Publication<irlock_report_s> _irlock_report_pub{ORB_ID(irlock_report)};
uORB::Publication<esc_status_s> _esc_status_pub{ORB_ID(esc_status)};
uORB::Publication<vehicle_odometry_s> _visual_odometry_pub{ORB_ID(vehicle_visual_odometry)};
uORB::Publication<vehicle_odometry_s> _mocap_odometry_pub{ORB_ID(vehicle_mocap_odometry)};
@@ -232,6 +236,7 @@ private:
void send();
void send_controls();
void send_heartbeat();
void send_esc_telemetry(mavlink_hil_actuator_controls_t hil_act_control);
void send_mavlink_message(const mavlink_message_t &aMsg);
void update_sensors(const hrt_abstime &time, const mavlink_hil_sensor_t &sensors);
@@ -259,12 +264,14 @@ private:
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
// hil map_ref data
MapProjection _global_local_proj_ref{};
float _global_local_alt0{NAN};
vehicle_status_s _vehicle_status{};
battery_status_s _battery_status{};
bool _accel_blocked[ACCEL_COUNT_MAX] {};
bool _accel_stuck[ACCEL_COUNT_MAX] {};
@@ -293,6 +300,8 @@ private:
float _last_baro_pressure{0.0f};
float _last_baro_temperature{0.0f};
int32_t _output_functions[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS] {};
#if defined(ENABLE_LOCKSTEP_SCHEDULER)
px4::atomic<bool> _has_initialized {false};
#endif