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Added SITL Gazebo (#12346)

This commit is contained in:
Alejandro Hernández Cordero 2023-02-18 20:39:54 +01:00 committed by GitHub
parent 1c92d83c6f
commit 9dc9c51d3e
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GPG key ID: 4AEE18F83AFDEB23
12 changed files with 165 additions and 20 deletions

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@ -221,10 +221,12 @@ mspDescriptor_t mspDescriptorAlloc(void)
static uint32_t mspArmingDisableFlags = 0;
#ifndef SIMULATOR_BUILD
static void mspArmingDisableByDescriptor(mspDescriptor_t desc)
{
mspArmingDisableFlags |= (1 << desc);
}
#endif
static void mspArmingEnableByDescriptor(mspDescriptor_t desc)
{
@ -1516,7 +1518,7 @@ case MSP_NAME:
sbufWriteU16(dst, (uint16_t)constrain(gpsSol.llh.altCm / 100, 0, UINT16_MAX)); // alt changed from 1m to 0.01m per lsb since MSP API 1.39 by RTH. To maintain backwards compatibility compensate to 1m per lsb in MSP again.
sbufWriteU16(dst, gpsSol.groundSpeed);
sbufWriteU16(dst, gpsSol.groundCourse);
// Added in API version 1.44
// Added in API version 1.44
sbufWriteU16(dst, gpsSol.dop.hdop);
break;
@ -3549,11 +3551,13 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
disableRunawayTakeoff = sbufReadU8(src);
}
if (command) {
#ifndef SIMULATOR_BUILD // In simulator mode we can safely arm with MSP link.
mspArmingDisableByDescriptor(srcDesc);
setArmingDisabled(ARMING_DISABLED_MSP);
if (ARMING_FLAG(ARMED)) {
disarm(DISARM_REASON_ARMING_DISABLED);
}
#endif
#ifdef USE_RUNAWAY_TAKEOFF
runawayTakeoffTemporaryDisable(false);
#endif
@ -3702,7 +3706,7 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
#else
uint8_t emptyUid[6];
sbufReadData(src, emptyUid, 6);
#endif
#endif
}
break;
case MSP_SET_FAILSAFE_CONFIG: