SITL: enable the SIM_* parameters in ArduCopter and ArduPlane

ArduCopter/ArduCopter.pde

@@ -186,6 +186,8 @@ static AP_Int8                *flight_modes = &g.flight_mode1;
 #ifdef DESKTOP_BUILD
     AP_Baro_BMP085_HIL barometer;
     AP_Compass_HIL          compass;
+#include <SITL.h>
+	SITL					sitl;
 #else
 
 #if CONFIG_BARO == AP_BARO_BMP085

ArduCopter/GCS_Mavlink.pde

@@ -280,26 +280,10 @@ static void NOINLINE send_ahrs(mavlink_channel_t chan)
 #endif // HIL_MODE != HIL_MODE_ATTITUDE
 
 #ifdef DESKTOP_BUILD
-void mavlink_simstate_send(uint8_t chan,
-                           float roll,
-                           float pitch,
-                           float yaw,
-                           float xAcc,
-                           float yAcc,
-                           float zAcc,
-                           float p,
-                           float q,
-                           float r)
-{
-    mavlink_msg_simstate_send((mavlink_channel_t)chan,
-                              roll, pitch, yaw, xAcc, yAcc, zAcc, p, q, r);
-}
-
 // report simulator state
 static void NOINLINE send_simstate(mavlink_channel_t chan)
 {
-    extern void sitl_simstate_send(uint8_t chan);
-    sitl_simstate_send((uint8_t)chan);
+    sitl.simstate_send(chan);
 }
 #endif
 

ArduCopter/Parameters.h

@@ -51,13 +51,14 @@ public:
 	k_param_format_version = 0,
 	k_param_software_type,
 
+    // simulation
+    k_param_sitl = 10,
 
 	// Misc
 	//
 	k_param_log_bitmask = 20,
     k_param_log_last_filenumber,		// *** Deprecated - remove with next eeprom number change
 
-	#if FRAME_CONFIG ==	HELI_FRAME
 	//
 	// 80: Heli
 	//
@@ -65,7 +66,6 @@ public:
 	k_param_heli_servo_2,
 	k_param_heli_servo_3,
 	k_param_heli_servo_4,
-	#endif
 
 	//
 	// 90: Motors

ArduCopter/Parameters.pde

@@ -227,6 +227,10 @@ static const AP_Param::Info var_info[] PROGMEM = {
 	// @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp
 	GOBJECT(ahrs,			"AHRS_",    AP_AHRS),
 
+#ifdef DESKTOP_BUILD
+	GOBJECT(sitl, "SIM_", SITL),
+#endif
+
 	#if FRAME_CONFIG ==	HELI_FRAME
 	// @Group: H_
 	// @Path: ../libraries/AP_Motors/AP_MotorsHeli.cpp

ArduPlane/ArduPlane.pde

@@ -150,6 +150,8 @@ static AP_ADC_ADS7844          adc;
 #ifdef DESKTOP_BUILD
 AP_Baro_BMP085_HIL      barometer;
 AP_Compass_HIL          compass;
+#include <SITL.h>
+SITL					sitl;
 #else
 
 #if CONFIG_BARO == AP_BARO_BMP085

ArduPlane/GCS_Mavlink.pde

@@ -501,26 +501,10 @@ static void NOINLINE send_ahrs(mavlink_channel_t chan)
 #endif // HIL_MODE != HIL_MODE_ATTITUDE
 
 #ifdef DESKTOP_BUILD
-void mavlink_simstate_send(uint8_t chan,
-                           float roll,
-                           float pitch,
-                           float yaw,
-                           float xAcc,
-                           float yAcc,
-                           float zAcc,
-                           float p,
-                           float q,
-                           float r)
-{
-    mavlink_msg_simstate_send((mavlink_channel_t)chan,
-                              roll, pitch, yaw, xAcc, yAcc, zAcc, p, q, r);
-}
-
 // report simulator state
 static void NOINLINE send_simstate(mavlink_channel_t chan)
 {
-    extern void sitl_simstate_send(uint8_t chan);
-    sitl_simstate_send((uint8_t)chan);
+    sitl.simstate_send(chan);
 }
 #endif
 

ArduPlane/Parameters.h

@@ -70,7 +70,6 @@ public:
         k_param_reset_switch_chan,
         k_param_manual_level,
 
-
 		// 110: Telemetry control
 		//
 		k_param_gcs0 = 110, // stream rates for port0
@@ -185,6 +184,9 @@ public:
         k_param_fence_minalt,
         k_param_fence_maxalt,
 
+        // simulator control
+        k_param_sitl = 230,
+
         //
         // 240: PID Controllers
         //

ArduPlane/Parameters.pde

@@ -326,7 +326,12 @@ static const AP_Param::Info var_info[] PROGMEM = {
 
     // @Group: AHRS_
 	// @Path: ../libraries/AP_AHRS/AP_AHRS_DCM.cpp, ../libraries/AP_AHRS/AP_AHRS_Quaternion.cpp
-	GOBJECT(ahrs,					"AHRS_",    AP_AHRS)
+	GOBJECT(ahrs,					"AHRS_",    AP_AHRS),
+
+#ifdef DESKTOP_BUILD
+	// @Group: SITL
+	GOBJECT(sitl, "SIM_", SITL),
+#endif
 };