SITL: added SIM_GPS_LOG_NUM

for replaying GPS logs recorded with --enable-gps-logging
tridge · Dec 18, 2022 · a43709c · a43709c
1 parent bec4a7f
commit a43709c
Show file tree

Hide file tree

Showing 3 changed files with 6 additions and 1 deletion.
diff --git a/libraries/SITL/SIM_GPS.cpp b/libraries/SITL/SIM_GPS.cpp
@@ -1023,7 +1023,7 @@ void GPS::update_file()
 {
     static int fd[2] = {-1,-1};
     static uint32_t base_time[2];
-    const uint16_t lognum = 9;
+    const uint16_t lognum = uint16_t(_sitl->gps_log_num.get());
     if (instance > 1) {
         return;
     }

diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp
@@ -376,6 +376,8 @@ const AP_Param::GroupInfo SIM::var_gps[] = {
     AP_GROUPINFO("INIT_LON_OFS",  46, SIM,  gps_init_lon_ofs, 0),
     AP_GROUPINFO("INIT_ALT_OFS",  47, SIM,  gps_init_alt_ofs, 0),
 
+    AP_GROUPINFO("GPS_LOG_NUM",   48, SIM,  gps_log_num, 0),
+
     AP_GROUPEND
 };
 #endif  // HAL_SIM_GPS_ENABLED

diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h
@@ -209,6 +209,9 @@ class SIM {
     AP_Float gps_init_lon_ofs;
     AP_Float gps_init_alt_ofs;
 
+    // log number for GPS::update_file()
+    AP_Int16 gps_log_num;
+
     AP_Float batt_voltage; // battery voltage base
     AP_Float batt_capacity_ah; // battery capacity in Ah
     AP_Int8  rc_fail;     // fail RC input