SITL: FlightAxis: add position reset option

ArduPilot · Oct 2, 2024 · 029eeac · 029eeac
1 parent d5f4ca9
commit 029eeac
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Showing 2 changed files with 12 additions and 1 deletion.
diff --git a/libraries/SITL/SIM_FlightAxis.cpp b/libraries/SITL/SIM_FlightAxis.cpp
@@ -40,10 +40,11 @@ const AP_Param::GroupInfo FlightAxis::var_info[] = {
     // @Param: OPTS
     // @DisplayName: FlightAxis options
     // @Description: Bitmask of FlightAxis options
+    // @Bitmask: 0: Reset position on startup
     // @Bitmask: 1: Swap first 4 and last 4 servos (for quadplane testing)
     // @Bitmask: 2: Demix heli servos and send roll/pitch/collective/yaw
     // @User: Advanced
-    AP_GROUPINFO("OPTS", 1, FlightAxis, _options, 0),
+    AP_GROUPINFO("OPTS", 1, FlightAxis, _options, uint8_t(Option::ResetPosition)),
     AP_GROUPEND
 };
 
@@ -303,6 +304,15 @@ void FlightAxis::exchange_data(const struct sitl_input &input)
 </soap:Body>
 </soap:Envelope>)");
         soap_request_end(1000);
+        if(option_is_set(Option::ResetPosition)) {
+            soap_request_start("ResetAircraft", R"(<?xml version='1.0' encoding='UTF-8'?>
+<soap:Envelope xmlns:soap='http://schemas.xmlsoap.org/soap/envelope/' xmlns:xsd='http://www.w3.org/2001/XMLSchema' xmlns:xsi='http://www.w3.org/2001/XMLSchema-instance'>
+<soap:Body>
+<ResetAircraft><a>1</a><b>2</b></ResetAircraft>
+</soap:Body>
+</soap:Envelope>)");
+            soap_request_end(1000);
+        }
         soap_request_start("InjectUAVControllerInterface", R"(<?xml version='1.0' encoding='UTF-8'?>
 <soap:Envelope xmlns:soap='http://schemas.xmlsoap.org/soap/envelope/' xmlns:xsd='http://www.w3.org/2001/XMLSchema' xmlns:xsi='http://www.w3.org/2001/XMLSchema-instance'>
 <soap:Body>

diff --git a/libraries/SITL/SIM_FlightAxis.h b/libraries/SITL/SIM_FlightAxis.h
@@ -177,6 +177,7 @@ class FlightAxis : public Aircraft {
     AP_Int8 _options;
 
     enum class Option {
+        ResetPosition = (1U<<0),
         Rev4Servos    = (1U<<1),
         HeliDemix     = (1U<<2),
     };