AP_HAL_SITL: split MAVLink and physical gimbal simulations

ArduPilot · Jul 21, 2024 · ed3aeb3 · ed3aeb3
1 parent fc28e2d
commit ed3aeb3
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Showing 3 changed files with 4 additions and 2 deletions.
diff --git a/libraries/AP_HAL_SITL/SITL_State.cpp b/libraries/AP_HAL_SITL/SITL_State.cpp
@@ -81,7 +81,7 @@ void SITL_State::_sitl_setup()
         _update_airspeed(0);
 #if AP_SIM_SOLOGIMBAL_ENABLED
         if (enable_gimbal) {
-            gimbal = NEW_NOTHROW SITL::SoloGimbal(_sitl->state);
+            gimbal = NEW_NOTHROW SITL::SoloGimbal();
         }
 #endif
 

diff --git a/libraries/AP_HAL_SITL/SITL_State_common.cpp b/libraries/AP_HAL_SITL/SITL_State_common.cpp
@@ -334,7 +334,7 @@ void SITL_State_Common::sim_update(void)
 {
 #if AP_SIM_SOLOGIMBAL_ENABLED
     if (gimbal != nullptr) {
-        gimbal->update();
+        gimbal->update(*sitl_model);
     }
 #endif
 #if HAL_SIM_ADSB_ENABLED

diff --git a/libraries/AP_HAL_SITL/SITL_cmdline.cpp b/libraries/AP_HAL_SITL/SITL_cmdline.cpp
@@ -439,9 +439,11 @@ void SITL_State::_parse_command_line(int argc, char * const argv[])
         case 'v':
             vehicle_str = gopt.optarg;
             break;
+#if AP_SIM_SOLOGIMBAL_ENABLED
         case CMDLINE_GIMBAL:
             enable_gimbal = true;
             break;
+#endif
         case CMDLINE_FGVIEW:
             _use_fg_view = true;
             break;