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61 lines
2.5 KiB
61 lines
2.5 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* Author: @author Lorenz Meier <lm@inf.ethz.ch> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file mavlink_hil.h |
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* Hardware-in-the-loop simulation support. |
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*/ |
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#pragma once |
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extern bool mavlink_hil_enabled; |
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extern struct vehicle_global_position_s hil_global_pos; |
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extern struct vehicle_attitude_s hil_attitude; |
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extern struct sensor_combined_s hil_sensors; |
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extern struct vehicle_gps_position_s hil_gps; |
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extern orb_advert_t pub_hil_global_pos; |
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extern orb_advert_t pub_hil_attitude; |
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extern orb_advert_t pub_hil_sensors; |
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extern orb_advert_t pub_hil_gps; |
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/** |
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* Enable / disable Hardware in the Loop simulation mode. |
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* |
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* @param hil_enabled The new HIL enable/disable state. |
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* @return OK if the HIL state changed, ERROR if the |
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* requested change could not be made or was |
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* redundant. |
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*/ |
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extern int set_hil_on_off(bool hil_enabled);
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