AP_HAL_SITL: add simulated FETtec ESC

do not overwrite FETTecESC telemetry data w/SITL ESC data

libraries/AP_HAL_SITL/RCOutput.cpp

@@ -85,6 +85,14 @@ void RCOutput::push(void)
         memcpy(_sitlState->pwm_output, _pending, SITL_NUM_CHANNELS * sizeof(uint16_t));
         _corked = false;
     }
+
+    // do not overwrite FETTec simulation's ESC telemetry data:
+    SITL::SITL *sitl = AP::sitl();
+    if (sitl != nullptr &&
+        sitl->fetteconewireesc_sim.enabled()) {
+        return;
+    }
+
     if (esc_telem == nullptr) {
         esc_telem = new AP_ESC_Telem_SITL;
     }

libraries/AP_HAL_SITL/SITL_State.cpp

@@ -367,6 +367,9 @@ int SITL_State::sim_fd(const char *name, const char *arg)
     } else if (streq(name, "richenpower")) {
         sitl_model->set_richenpower(&_sitl->richenpower_sim);
         return _sitl->richenpower_sim.fd();
+    } else if (streq(name, "fetteconewireesc")) {
+        sitl_model->set_fetteconewireesc(&_sitl->fetteconewireesc_sim);
+        return _sitl->fetteconewireesc_sim.fd();
     } else if (streq(name, "ie24")) {
         sitl_model->set_ie24(&_sitl->ie24_sim);
         return _sitl->ie24_sim.fd();
@@ -490,6 +493,8 @@ int SITL_State::sim_fd_write(const char *name)
         return sf45b->write_fd();
     } else if (streq(name, "richenpower")) {
         return _sitl->richenpower_sim.write_fd();
+    } else if (streq(name, "fetteconewireesc")) {
+        return _sitl->fetteconewireesc_sim.write_fd();
     } else if (streq(name, "ie24")) {
         return _sitl->ie24_sim.write_fd();
     } else if (streq(name, "gyus42v2")) {
@@ -814,6 +819,23 @@ void SITL_State::_simulator_servos(struct sitl_input &input)
         }
     }
 
+    if (_sitl != nullptr) {
+        // FETtec ESC simulation support.  Input signals of 1000-2000
+        // are positive thrust, 0 to 1000 are negative thrust.  Deeper
+        // changes required to support negative thrust - potentially
+        // adding a field to input.
+        if (_sitl != nullptr) {
+            if (_sitl->fetteconewireesc_sim.enabled()) {
+                _sitl->fetteconewireesc_sim.update_sitl_input_pwm(input);
+                for (uint8_t i=0; i<ARRAY_SIZE(input.servos); i++) {
+                    if (input.servos[i] != 0 && input.servos[i] < 1000) {
+                        AP_HAL::panic("Bad input servo value (%u)", input.servos[i]);
+                    }
+                }
+            }
+        }
+    }
+
     float engine_mul = _sitl?_sitl->engine_mul.get():1;
     uint8_t engine_fail = _sitl?_sitl->engine_fail.get():0;
     float throttle = 0.0f;

libraries/AP_HAL_SITL/SITL_State.h

@@ -54,6 +54,7 @@
 #include <SITL/SIM_PS_LightWare_SF45B.h>
 
 #include <SITL/SIM_RichenPower.h>
+#include <SITL/SIM_FETtecOneWireESC.h>
 #include <AP_HAL/utility/Socket.h>
 
 class HAL_SITL;
@@ -298,6 +299,9 @@ private:
     // simulated RPLidarA2:
     SITL::PS_RPLidarA2 *rplidara2;
 
+    // simulated FETtec OneWire ESCs:
+    SITL::FETtecOneWireESC *fetteconewireesc;
+
     // simulated SF45B proximity sensor:
     SITL::PS_LightWare_SF45B *sf45b;