FlightAxis::FlightAxis(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str)
{
use_time_sync = false;
rate_hz = 250 / target_speedup;
heli_demix = strstr(frame_str, "helidemix") != nullptr;
rev4_servos = strstr(frame_str, "rev4") != nullptr;
const char *colon = strchr(frame_str, ':');
if (colon) {
controller_ip = colon+1;
}
for (uint8_t i=0; i<ARRAY_SIZE(sim_defaults); i++) {
AP_Param::set_default_by_name(sim_defaults[i].name, sim_defaults[i].value);
if (sim_defaults[i].save) {
enum ap_var_type ptype;
AP_Param *p = AP_Param::find(sim_defaults[i].name, &ptype);
if (!p->configured()) {
p->save();
}
}
}
/* Create the thread that will be waiting for data from FlightAxis */
mutex = hal.util->new_semaphore();
int ret = pthread_create(&thread, NULL, update_thread, this);
if (ret != 0) {
AP_HAL::panic("SIM_FlightAxis: failed to create thread");
}
}
Morse::Morse(const char *home_str, const char *frame_str) :
Aircraft(home_str, frame_str)
{
char *saveptr = nullptr;
char *s = strdup(frame_str);
char *frame_option = strtok_r(s, ":", &saveptr);
char *args1 = strtok_r(nullptr, ":", &saveptr);
char *args2 = strtok_r(nullptr, ":", &saveptr);
char *args3 = strtok_r(nullptr, ":", &saveptr);
/*
allow setting of IP, sensors port and control port
format morse:IPADDRESS:SENSORS_PORT:CONTROL_PORT
*/
if (args1) {
morse_ip = args1;
}
if (args2) {
morse_sensors_port = atoi(args2);
morse_control_port = morse_sensors_port+1;
}
if (args3) {
morse_control_port = atoi(args3);
}
if (strstr(frame_option, "-rover")) {
output_type = OUTPUT_ROVER;
} else if (strstr(frame_option, "-quad")) {
output_type = OUTPUT_QUAD;
} else if (strstr(frame_option, "-pwm")) {
output_type = OUTPUT_PWM;
} else {
// default to rover
output_type = OUTPUT_ROVER;
}
for (uint8_t i=0; i<ARRAY_SIZE(sim_defaults); i++) {
AP_Param::set_default_by_name(sim_defaults[i].name, sim_defaults[i].value);
if (sim_defaults[i].save) {
enum ap_var_type ptype;
AP_Param *p = AP_Param::find(sim_defaults[i].name, &ptype);
if (!p->configured()) {
p->save();
}
}
}
printf("Started Morse with %s:%u:%u type %u\n",
morse_ip, morse_sensors_port, morse_control_port,
(unsigned)output_type);
}