feat: Introduce end to end simulator support#87
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DNedic
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nikolaptr
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Looks good, just a few suggestions but I will not block
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| // Skeleton step: no estimator or controller yet, just a slow sine sweep on | ||
| // the first four outputs so prop motion is visible in the simulator without | ||
| // the vehicle taking off. |
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We should consider doxygen function comments
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This wires up jMavSim and QGroundControl with the efc core code with new plumbing and enables us to start development on estimation and control.
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nikolaptr
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Jul 5, 2026
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| #include "mavlink_custom.h" | ||
| #ifndef HIL_LINK_H | ||
| #define HIL_LINK_H | ||
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| /* Global status and buffer instances for each channel */ | ||
| static mavlink_status_t chan_statuses[MAVLINK_COMM_NUM_BUFFERS]; | ||
| static mavlink_message_t chan_buffers[MAVLINK_COMM_NUM_BUFFERS]; | ||
| #include <stdbool.h> | ||
| #include <stdint.h> | ||
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| mavlink_status_t *mavlink_get_channel_status(uint8_t chan) { | ||
| return &chan_statuses[chan]; | ||
| } | ||
| #include <uv.h> | ||
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| mavlink_message_t *mavlink_get_channel_buffer(uint8_t chan) { | ||
| return &chan_buffers[chan]; | ||
| } |
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why did you chose to git mv this file instead of deleting?
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| #define SENSOR_HEALTH_MASK \ | ||
| (MAV_SYS_STATUS_SENSOR_3D_GYRO | MAV_SYS_STATUS_SENSOR_3D_ACCEL | \ | ||
| MAV_SYS_STATUS_SENSOR_3D_MAG | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | \ |
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Nitpick: IIRC we don't record data from mag, so should we set it in health mask?
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Description
This wires up jMavSim and QGroundControl with the efc core code with new plumbing and enables us to start development on estimation and control.
Design choices
autopilotlibuvand a standalone linux binary is kept, however we should explorenative_simZephyr use.