support sitl for planes

src/modules/simulator/simulator.h

@@ -43,6 +43,7 @@
 #include <uORB/topics/manual_control_setpoint.h>
 #include <uORB/topics/actuator_outputs.h>
 #include <uORB/topics/vehicle_attitude.h>
+#include <uORB/topics/vehicle_status.h>
 #include <drivers/drv_accel.h>
 #include <drivers/drv_gyro.h>
 #include <drivers/drv_baro.h>
@@ -217,10 +218,12 @@ private:
 	_actuator_outputs_sub(-1),
 	_vehicle_attitude_sub(-1),
 	_manual_sub(-1),
+	_vehicle_status_sub(-1),
 	_rc_input{},
 	_actuators{},
 	_attitude{},
-	_manual{}
+	_manual{},
+	_vehicle_status{}
 #endif
 	{}
 	~Simulator() { _instance=NULL; }
@@ -255,14 +258,16 @@ private:
 	int _actuator_outputs_sub;
 	int _vehicle_attitude_sub;
 	int _manual_sub;
+	int _vehicle_status_sub;
 
 	// uORB data containers
 	struct rc_input_values _rc_input;
 	struct actuator_outputs_s _actuators;
 	struct vehicle_attitude_s _attitude;
 	struct manual_control_setpoint_s _manual;
+	struct vehicle_status_s _vehicle_status;
 
-	void poll_actuators();
+	void poll_topics();
 	void handle_message(mavlink_message_t *msg, bool publish);
 	void send_controls();
 	void pollForMAVLinkMessages(bool publish);