Refactor and start tidying up the MAVLink app.

1 files changed, 57 insertions, 0 deletions

diff --git a/apps/mavlink/mavlink_hil.h b/apps/mavlink/mavlink_hil.h
new file mode 100644
index 000000000..95790db93
--- /dev/null
+++ b/apps/mavlink/mavlink_hil.h
@@ -0,0 +1,57 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file mavlink_hil.h
+ * Hardware-in-the-loop simulation support.
+ */
+
+#pragma once
+
+extern bool mavlink_hil_enabled;
+
+extern struct vehicle_global_position_s hil_global_pos;
+extern struct vehicle_attitude_s hil_attitude;
+extern orb_advert_t pub_hil_global_pos;
+extern orb_advert_t pub_hil_attitude;
+
+/**
+ * Enable / disable Hardware in the Loop simulation mode.
+ *
+ * @param hil_enabled	The new HIL enable/disable state.
+ * @return		OK if the HIL state changed, ERROR if the 
+ *			requested change could not be made or was
+ *			redundant.
+ */
+extern int set_hil_on_off(bool hil_enabled);
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