Simulator: Make battery discharging configurable.

src/modules/simulator/simulator.h

@@ -54,6 +54,8 @@
 #include <drivers/drv_rc_input.h>
 #include <systemlib/perf_counter.h>
 #include <systemlib/battery.h>
+#include <controllib/blocks.hpp>
+#include <controllib/block/BlockParam.hpp>
 #include <uORB/uORB.h>
 #include <uORB/topics/optical_flow.h>
 #include <uORB/topics/distance_sensor.h>
@@ -185,7 +187,7 @@ protected:
 
 };
 
-class Simulator
+class Simulator : public control::SuperBlock
 {
 public:
 	static Simulator *getInstance();
@@ -223,7 +225,7 @@ public:
 	bool isInitialized() { return _initialized; }
 
 private:
-	Simulator() :
+	Simulator() : SuperBlock(nullptr, "SIM"),
 		_accel(1),
 		_mpu(1),
 		_baro(1),
@@ -247,6 +249,7 @@ private:
 		_vision_attitude_pub(nullptr),
 		_dist_pub(nullptr),
 		_battery_pub(nullptr),
+		_param_sub(-1),
 		_initialized(false),
 		_realtime_factor(1.0),
 		_system_type(0)
@@ -270,7 +273,8 @@ private:
 		_actuators{},
 		_attitude{},
 		_manual{},
-		_vehicle_status{}
+		_vehicle_status{},
+		_battery_drain_interval_s(this, "BAT_DRAIN")
 #endif
 	{
 		// We need to know the type for the correct mapping from
@@ -278,8 +282,7 @@ private:
 		param_t param_system_type = param_find("MAV_TYPE");
 		param_get(param_system_type, &_system_type);
 
-		for (unsigned i = 0; i < (sizeof(_actuator_outputs_sub) / sizeof(_actuator_outputs_sub[0])); i++)
-		{
+		for (unsigned i = 0; i < (sizeof(_actuator_outputs_sub) / sizeof(_actuator_outputs_sub[0])); i++) {
 			_actuator_outputs_sub[i] = -1;
 		}
 
@@ -287,6 +290,8 @@ private:
 		gps_data.eph = UINT16_MAX;
 		gps_data.epv = UINT16_MAX;
 		_gps.writeData(&gps_data);
+
+		_param_sub = orb_subscribe(ORB_ID(parameter_update));
 	}
 	~Simulator()
 	{
@@ -329,6 +334,8 @@ private:
 	orb_advert_t _dist_pub;
 	orb_advert_t _battery_pub;
 
+	int				_param_sub;
+
 	bool _initialized;
 	double _realtime_factor;		///< How fast the simulation runs in comparison to real system time
 	hrt_abstime _last_sim_timestamp;
@@ -374,6 +381,8 @@ private:
 	struct manual_control_setpoint_s _manual;
 	struct vehicle_status_s _vehicle_status;
 
+	control::BlockParamFloat _battery_drain_interval_s; ///< battery drain interval
+
 	void poll_topics();
 	void handle_message(mavlink_message_t *msg, bool publish);
 	void send_controls();
@@ -383,6 +392,7 @@ private:
 	void send_mavlink_message(const uint8_t msgid, const void *msg, uint8_t component_ID);
 	void update_sensors(mavlink_hil_sensor_t *imu);
 	void update_gps(mavlink_hil_gps_t *gps_sim);
+	void parameters_update(bool force);
 	static void *sending_trampoline(void *);
 	void send();
 #endif