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enable possibility to simulate GPS sensor timeout, mag failure and pitot failure with HITL

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This commit is contained in:
Roman Lut 2023-02-27 00:03:01 +01:00
parent 9c32094f5e
commit b5af1b765f
5 changed files with 39 additions and 9 deletions
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6
src/main/fc/fc_msp.c
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@ -3545,7 +3545,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
if (sensors(SENSOR_MAG)) {
mag.magADC[X] = ((int16_t)sbufReadU16(src)) / 20; // 16000 / 20 = 800uT
mag.magADC[Y] = ((int16_t)sbufReadU16(src)) / 20;
mag.magADC[Y] = ((int16_t)sbufReadU16(src)) / 20; //note that mag failure is simulated by setting all readings to zero
mag.magADC[Z] = ((int16_t)sbufReadU16(src)) / 20;
} else {
sbufAdvance(src, sizeof(uint16_t) * XYZ_AXIS_COUNT);
@ -3560,6 +3560,10 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
if (SIMULATOR_HAS_OPTION(HITL_AIRSPEED)) {
simulatorData.airSpeed = sbufReadU16(src);
}
if (SIMULATOR_HAS_OPTION(HITL_EXTENDED_FLAGS)) {
simulatorData.flags |= ((uint16_t)sbufReadU8(src)) << 8;
}
} else {
DISABLE_STATE(GPS_FIX);
}