/*
update the Gazebo simulation by one time step
*/
void Gazebo::update(const struct sitl_input &input)
{
send_servos(input);
recv_fdm(input);
update_position();
// update magnetic field
update_mag_field_bf();
}
/*
update the last_letter simulation by one time step
*/
void last_letter::update(const struct sitl_input &input)
{
send_servos(input);
recv_fdm(input);
sync_frame_time();
update_position();
// update magnetic field
update_mag_field_bf();
}
/*
update the JSBSim simulation by one time step
*/
void JSBSim::update(const struct sitl_input &input)
{
while (!initialised) {
if (!create_templates() ||
!start_JSBSim() ||
!open_control_socket() ||
!open_fdm_socket()) {
time_now_us = 1;
return;
}
initialised = true;
}
send_servos(input);
recv_fdm(input);
adjust_frame_time(1000);
sync_frame_time();
drain_control_socket();
}
/*
update the last_letter simulation by one time step
*/
void last_letter::update(const struct sitl_input &input)
{
send_servos(input);
recv_fdm(input);
sync_frame_time();
}
/*
update the CRRCSim simulation by one time step
*/
void CRRCSim::update(const struct sitl_input &input)
{
send_servos(input);
recv_fdm(input);
update_position();
}
