HAL_SITL: support simulator RC input

libraries/AP_HAL_SITL/RCInput.cpp

@@ -26,7 +26,10 @@ uint16_t RCInput::read(uint8_t ch)
     if (ch >= SITL_RC_INPUT_CHANNELS) {
         return 0;
     }
-    return _override[ch]? _override[ch] : _sitlState->pwm_input[ch];
+    if (_override[ch]) {
+        return _override[ch];
+    }
+    return _sitlState->pwm_input[ch];
 }
 
 uint8_t RCInput::read(uint16_t* periods, uint8_t len)
@@ -35,7 +38,7 @@ uint8_t RCInput::read(uint16_t* periods, uint8_t len)
         len = SITL_RC_INPUT_CHANNELS;
     }
     for (uint8_t i=0; i<len; i++) {
-        periods[i] = _override[i]? _override[i] : _sitlState->pwm_input[i];
+        periods[i] = read(i);
     }
     return 8;
 }

libraries/AP_HAL_SITL/SITL_State.cpp

@@ -204,6 +204,10 @@ void SITL_State::_fdm_input(void)
         uint8_t i;
         for (i=0; i<size/2; i++) {
             // setup the pwm input for the RC channel inputs
+            if (i < _sitl->state.rcin_chan_count) {
+                // we're using rc from simulator
+                continue;
+            }
             if (pwm_pkt.pwm[i] != 0) {
                 pwm_input[i] = pwm_pkt.pwm[i];
             }
@@ -268,6 +272,10 @@ void SITL_State::_fdm_input_local(void)
     if (_sitl) {
         sitl_model->fill_fdm(_sitl->state);
         _sitl->update_rate_hz = sitl_model->get_rate_hz();
+
+        for (uint8_t i=0; i< _sitl->state.rcin_chan_count; i++) {
+            pwm_input[i] = 1000 + _sitl->state.rcin[i]*1000;
+        }
     }
 
     if (gimbal != NULL) {