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simulator: add support for multi-distance_sensor instances (#14143)

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* simulator: add support for multi-distance_sensor instances

* update submodule Tools/sitl_gazebo

* sitl_gazebo: add updated iris_obs_avoid; simulator: cleanup distance_sensor topic init

* update submodule Tools/sitl_gazebo

* simulator: delete _dist_pubs uORB::PublicationMulti<distance_sensor_s> in simulator destructor
This commit is contained in:
Nuno Marques
2020-02-14 11:32:28 +01:00
committed by GitHub
parent abd2bb4eb7
commit 7cafbc824e
3 changed files with 24 additions and 4 deletions
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src/modules/simulator/simulator.h
+8 -1
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@@ -45,6 +45,7 @@
#include <battery/battery.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_range_finder.h>
#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
#include <lib/drivers/barometer/PX4Barometer.hpp>
#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
@@ -111,6 +112,10 @@ private:
perf_free(_perf_sim_delay);
perf_free(_perf_sim_interval);
for (size_t i = 0; i < sizeof(_dist_pubs) / sizeof(_dist_pubs[0]); i++) {
delete _dist_pubs[i];
}
_instance = nullptr;
}
@@ -134,11 +139,13 @@ private:
// uORB publisher handlers
uORB::Publication<battery_status_s> _battery_pub{ORB_ID(battery_status)};
uORB::Publication<differential_pressure_s> _differential_pressure_pub{ORB_ID(differential_pressure)};
uORB::PublicationMulti<distance_sensor_s> _dist_pub{ORB_ID(distance_sensor)};
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<vehicle_odometry_s> _visual_odometry_pub{ORB_ID(vehicle_visual_odometry)};
uORB::PublicationMulti<distance_sensor_s> *_dist_pubs[RANGE_FINDER_MAX_SENSORS] {};
uint8_t _dist_sensor_ids[RANGE_FINDER_MAX_SENSORS] {};
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
unsigned int _port{14560};