From 6056cc9d54118c7663f77f3861805034bd4cfcff Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 29 Oct 2019 13:53:01 +1100
Subject: [PATCH] AP_HAL_SITL: add support for simulated RichenPower generator

---
 libraries/AP_HAL_SITL/SITL_State.cpp | 5 +++++
 libraries/AP_HAL_SITL/SITL_State.h   | 1 +
 2 files changed, 6 insertions(+)

diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
index 39f0cfd688..06803ee021 100644
--- a/libraries/AP_HAL_SITL/SITL_State.cpp
+++ b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -348,6 +348,9 @@ int SITL_State::sim_fd(const char *name, const char *arg)
         }
         rplidara2 = new SITL::PS_RPLidarA2();
         return rplidara2->fd();
+    } else if (streq(name, "richenpower")) {
+        sitl_model->set_richenpower(&_sitl->richenpower_sim);
+        return _sitl->richenpower_sim.fd();
     }
 
     AP_HAL::panic("unknown simulated device: %s", name);
@@ -439,6 +442,8 @@ int SITL_State::sim_fd_write(const char *name)
             AP_HAL::panic("No rplidara2 created");
         }
         return rplidara2->write_fd();
+    } else if (streq(name, "richenpower")) {
+        return _sitl->richenpower_sim.write_fd();
     }
     AP_HAL::panic("unknown simulated device: %s", name);
 }
diff --git a/libraries/AP_HAL_SITL/SITL_State.h b/libraries/AP_HAL_SITL/SITL_State.h
index f84b5be206..d12ffd9bdf 100644
--- a/libraries/AP_HAL_SITL/SITL_State.h
+++ b/libraries/AP_HAL_SITL/SITL_State.h
@@ -44,6 +44,7 @@
 // #include <SITL/SIM_Frsky_SPortPassthrough.h>
 #include <SITL/SIM_PS_RPLidarA2.h>
 
+#include <SITL/SIM_RichenPower.h>
 #include <AP_HAL/utility/Socket.h>
 
 class HAL_SITL;