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Merge pull request #8858 from RomanLut/submit-simulator-sensor-failures

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Enable possibility to simulate HW sensor failures in HITL
This commit is contained in:
Paweł Spychalski 2023-06-28 11:03:55 -07:00 • committed by GitHub
commit cbb4b5f311
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5 changed files with 61 additions and 25 deletions
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16
src/main/fc/fc_msp.c
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@ -2526,6 +2526,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
gpsSol.flags.validVelNE = false;
gpsSol.flags.validVelD = false;
gpsSol.flags.validEPE = false;
gpsSol.flags.validTime = false;
gpsSol.numSat = sbufReadU8(src);
gpsSol.llh.lat = sbufReadU32(src);
gpsSol.llh.lon = sbufReadU32(src);
@ -3533,6 +3534,7 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
gpsSol.flags.validVelNE = true;
gpsSol.flags.validVelD = true;
gpsSol.flags.validEPE = true;
gpsSol.flags.validTime = false;
gpsSol.llh.lat = sbufReadU32(src);
gpsSol.llh.lon = sbufReadU32(src);
@ -3587,7 +3589,7 @@ 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);
@ -3604,8 +3606,16 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
#endif
if (SIMULATOR_HAS_OPTION(HITL_AIRSPEED)) {
simulatorData.airSpeed = sbufReadU16(src);
}
simulatorData.airSpeed = sbufReadU16(src);
} else {
if (SIMULATOR_HAS_OPTION(HITL_EXTENDED_FLAGS)) {
sbufReadU16(src);
}
}
if (SIMULATOR_HAS_OPTION(HITL_EXTENDED_FLAGS)) {
simulatorData.flags |= ((uint16_t)sbufReadU8(src)) << 8;
}
} else {
DISABLE_STATE(GPS_FIX);
}