Use the defined commands number and name in NPS

paparazzi · Apr 15, 2024 · 02517cf · 02517cf
1 parent c125242
commit 02517cf
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Showing 2 changed files with 15 additions and 1 deletion.
diff --git a/sw/simulator/nps/nps_autopilot.h b/sw/simulator/nps/nps_autopilot.h
@@ -38,9 +38,11 @@ extern "C" {
 #ifndef NPS_COMMANDS_NB
 #if defined MOTOR_MIXING_NB_MOTOR
 #define NPS_COMMANDS_NB MOTOR_MIXING_NB_MOTOR
+#elif defined NPS_USE_COMMANDS
+#define NPS_COMMANDS_NB COMMANDS_NB
 #else
 #define NPS_COMMANDS_NB ACTUATORS_NB  // uses actuators_pprz[ACTUATORS_NB]
-#endif /* #if defined MOTOR_MIXING_NB_MOTOR */
+#endif /* #if defined MOTOR_MIXING_NB_MOTOR or NPS_USE_COMMANDS */
 #endif /* #ifndef NPS_COMMANDS_NB */
 
 struct NpsAutopilot {

diff --git a/sw/simulator/nps/nps_fdm_jsbsim.cpp b/sw/simulator/nps/nps_fdm_jsbsim.cpp
@@ -316,7 +316,18 @@ static void feed_jsbsim(double *commands, int commands_nb __attribute__((unused)
     FDMExec->GetPropertyManager()->GetNode(property)->SetDouble("", commands[i]);
   }
 #else /* use COMMAND names */
+#ifdef NPS_USE_COMMANDS /*Use generated command names*/
+  char buf[64];
+  const char *names[] = COMMAND_NAMES;
+  string property;
 
+  int i;
+  for (i = 0; i < commands_nb; i++) {
+    sprintf(buf, "fcs/%s", names[i]);
+    property = string(buf);
+    FDMExec->GetPropertyManager()->GetNode(property)->SetDouble("", commands[i]);
+  }
+#else /*Use manually defined commands*/
   // get FGFCS instance
   FGFCS *FCS = FDMExec->GetFCS();
 
@@ -355,6 +366,7 @@ static void feed_jsbsim(double *commands, int commands_nb __attribute__((unused)
   FCS->SetDfCmd(commands[COMMAND_FLAP]);
 #endif /* COMMAND_FLAP */
 
+#endif /* NPS_USE_COMMANDS */
 #endif /* NPS_ACTUATOR_NAMES */
 }