fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-30 06:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update Flight-gear bridge, Add support of TF-G2 autogyro flight-gear model (#19122)

Browse Source 
* Add Transfer of RPM from FG to PX4,
	-switch FG_bridge module to ThudnderFlyaerospace

* Add TF-G2 flightgear sim target

* Add simulator support, fix astyle

* Update SITL TF-G2 airframe, update fg bridge

Co-authored-by: Vit Hanousek <vithanousek@seznam.cz>
This commit is contained in:
Roman Dvořák
2022-07-19 09:11:44 +02:00
committed by GitHub
co-authored by Vit Hanousek
parent 1a513153be
commit ed14151734
5 changed files with 72 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/simulator/simulator.h
+4
View File
@@ -76,6 +76,7 @@
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/rpm.h>
#include <random>
@@ -251,6 +252,9 @@ private:
uORB::Publication<vehicle_local_position_s> _lpos_ground_truth_pub{ORB_ID(vehicle_local_position_groundtruth)};
uORB::Publication<input_rc_s> _input_rc_pub{ORB_ID(input_rc)};
//rpm
uORB::Publication<rpm_s> _rpm_pub{ORB_ID(rpm)};
// HIL GPS
static constexpr int MAX_GPS = 3;
uORB::PublicationMulti<sensor_gps_s> *_sensor_gps_pubs[MAX_GPS] {};
src/modules/simulator/simulator_mavlink.cpp
+11
View File
@@ -424,6 +424,17 @@ void Simulator::handle_message(const mavlink_message_t *msg)
case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
handle_message_hil_state_quaternion(msg);
break;
case MAVLINK_MSG_ID_RAW_RPM:
mavlink_raw_rpm_t rpm;
mavlink_msg_raw_rpm_decode(msg, &rpm);
rpm_s rpmmsg{};
rpmmsg.timestamp = hrt_absolute_time();
rpmmsg.indicated_frequency_rpm = rpm.frequency;
rpmmsg.estimated_accurancy_rpm = 0;
_rpm_pub.publish(rpmmsg);
break;
}
}