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[simulator] OCaml sim: simulate sys_time

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should fix #962
This commit is contained in:
Felix Ruess
2014-11-19 17:51:39 +01:00
parent cbb497ed66
commit 25fb274954
2 changed files with 17 additions and 0 deletions
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sw/airborne/arch/sim/sim_ap.c
+14
View File
@@ -47,6 +47,20 @@ uint16_t datalink_time = 0;
uint8_t ac_id;
#if PERIODIC_FREQUENCY != 60
#warning "Simple OCaml sim can currently only handle a PERIODIC_FREQUENCY of 60Hz"
#endif
#if SYS_TIME_FREQUENCY != 120
#warning "Simple OCaml sim can currently only handle a SYS_TIME_FREQUENCY of 120Hz"
#endif
/** needs to be called at SYS_TIME_FREQUENCY */
value sim_sys_time_task(value unit) {
sys_tick_handler();
return unit;
}
value sim_periodic_task(value unit) {
sensors_task();
attitude_loop();
sw/simulator/sitl.ml
+3
View File
@@ -44,6 +44,7 @@ module Make (A:Data.MISSION) (FM: FlightModel.SIG) = struct
let nav_period = 1./.4. (* s *)
let monitor_period = 1. (* s *)
let rc_period = 1./.40. (* s *)
let sys_time_period = 1./.120. (* s *)
let msg = fun name ->
ExtXml.child Data.messages_ap ~select:(fun x -> ExtXml.attrib x "name" = name) "message"
@@ -125,6 +126,7 @@ module Make (A:Data.MISSION) (FM: FlightModel.SIG) = struct
Stdlib.timer rc_period send_ppm; (** FIXME: should use time_scale *)
window#show ()
external sys_time_task : unit -> unit = "sim_sys_time_task"
external periodic_task : unit -> unit = "sim_periodic_task"
external nav_task : unit -> unit = "sim_nav_task"
external monitor_task : unit -> unit = "sim_monitor_task"
@@ -195,6 +197,7 @@ module Make (A:Data.MISSION) (FM: FlightModel.SIG) = struct
Stdlib.timer ~scale:time_scale periodic_period periodic_task;
Stdlib.timer ~scale:time_scale nav_period nav_task;
Stdlib.timer ~scale:time_scale monitor_period monitor_task;
Stdlib.timer ~scale:time_scale sys_time_period sys_time_task;
(* Forward or broacast messages according to "link" mode *)
Hashtbl.iter