示例#1
0
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");
    }
}
示例#2
0
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);
}