Extra fix for SITL classic

tiiuae · Sep 8, 2024 · 572c04c · 572c04c
1 parent 02738c8
commit 572c04c
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Showing 2 changed files with 33 additions and 10 deletions.
diff --git a/src/modules/simulation/pwm_out_sim/PWMSim.cpp b/src/modules/simulation/pwm_out_sim/PWMSim.cpp
@@ -44,14 +44,32 @@
 PWMSim::PWMSim(bool hil_mode_enabled) :
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default)
 {
-	for (int i = 0; i < MAX_ACTUATORS; ++i) {
-		char param_name[17];
-		snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "MIN", i + 1);
-		param_get(param_find(param_name), &_pwm_min[i]);
-		snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "MAX", i + 1);
-		param_get(param_find(param_name), &_pwm_max[i]);
-		snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "DIS", i + 1);
-		param_get(param_find(param_name), &_pwm_disarmed[i]);
+	int32_t use_hitl = 0;
+	param_get(param_find("SYS_HITL"), &use_hitl);
+
+	if (use_hitl) {
+		for (int i = 0; i < MAX_ACTUATORS; ++i) {
+			char param_name[17];
+			snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "MIN", i + 1);
+			param_get(param_find(param_name), &_pwm_min[i]);
+			snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "MAX", i + 1);
+			param_get(param_find(param_name), &_pwm_max[i]);
+			snprintf(param_name, sizeof(param_name), "%s_%s%d", PARAM_PREFIX, "DIS", i + 1);
+			param_get(param_find(param_name), &_pwm_disarmed[i]);
+		}
+
+	} else {
+		// SITL gazebo classic case
+		for (int i = 0; i < MAX_ACTUATORS; ++i) {
+			_pwm_min[i] = PWM_SIM_PWM_MIN_MAGIC;
+			_pwm_max[i] = PWM_SIM_PWM_MAX_MAGIC;
+			_pwm_disarmed[i] = PWM_SIM_DISARMED_MAGIC;
+		}
+
+		_mixing_output.setAllDisarmedValues(PWM_SIM_DISARMED_MAGIC);
+		_mixing_output.setAllFailsafeValues(PWM_SIM_FAILSAFE_MAGIC);
+		_mixing_output.setAllMinValues(PWM_SIM_PWM_MIN_MAGIC);
+		_mixing_output.setAllMaxValues(PWM_SIM_PWM_MAX_MAGIC);
 	}
 
 	_mixing_output.setIgnoreLockdown(hil_mode_enabled);
@@ -201,4 +219,4 @@ It is used in SITL and HITL.
 extern "C" __EXPORT int pwm_out_sim_main(int argc, char *argv[])
 {
 	return PWMSim::main(argc, argv);
-}
+}
diff --git a/src/modules/simulation/pwm_out_sim/PWMSim.hpp b/src/modules/simulation/pwm_out_sim/PWMSim.hpp
@@ -76,6 +76,11 @@ class PWMSim : public ModuleBase<PWMSim>, public OutputModuleInterface
 private:
 	void Run() override;
 
+	static constexpr uint16_t PWM_SIM_DISARMED_MAGIC = 900;
+	static constexpr uint16_t PWM_SIM_FAILSAFE_MAGIC = 600;
+	static constexpr uint16_t PWM_SIM_PWM_MIN_MAGIC = 1000;
+	static constexpr uint16_t PWM_SIM_PWM_MAX_MAGIC = 2000;
+
 	int32_t _pwm_min[MAX_ACTUATORS] {};
 	int32_t _pwm_max[MAX_ACTUATORS] {};
 	int32_t _pwm_disarmed[MAX_ACTUATORS] {};
@@ -87,4 +92,4 @@ class PWMSim : public ModuleBase<PWMSim>, public OutputModuleInterface
 
 	perf_counter_t	_cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
 	perf_counter_t	_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": interval")};
-};
+};