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Support for Betaflight SITL #113

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Support for Betaflight SITL #113

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2a1b03e
First commit
simple-max-2001 Oct 14, 2024
f063a35
Added rotors reset
simple-max-2001 Oct 17, 2024
3fcfa81
Compatible with UE 5.2.1
simple-max-2001 Oct 17, 2024
34cd497
Added checking if SITL is connected using armDisarm
simple-max-2001 Oct 17, 2024
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -331,6 +331,7 @@ cmake_build/
/3.3.2.zip
/PythonClient/**/cloud.txt
/PythonClient/**/cloud.asc
/Unreal/Environments/BlocksV2/BlocksV2.sln
/Unreal/Plugins/AirSim/Content/VehicleAdv/SUV/
/suv_download_tmp
car_assets.zip
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2 changes: 2 additions & 0 deletions AirLib/AirLib.vcxproj
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Expand Up @@ -96,6 +96,8 @@
<ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibAdaptors.hpp" />
<ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibClient.hpp" />
<ClInclude Include="include\vehicles\multirotor\api\MultirotorRpcLibServer.hpp" />
<ClInclude Include="include\vehicles\multirotor\firmwares\betaflight\BetaflightApi.hpp" />
<ClInclude Include="include\vehicles\multirotor\firmwares\betaflight\BetaflightParams.hpp" />
<ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\ArduCopterSoloApi.hpp" />
<ClInclude Include="include\vehicles\multirotor\firmwares\mavlink\ArduCopterSoloParams.hpp" />
<ClInclude Include="include\vehicles\multirotor\firmwares\simple_flight\AirSimSimpleFlightBoard.hpp" />
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6 changes: 6 additions & 0 deletions AirLib/AirLib.vcxproj.filters
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Expand Up @@ -456,6 +456,12 @@
<ClInclude Include="include\common\common_utils\SmoothingFilter.hpp">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="include\vehicles\multirotor\firmwares\betaflight\BetaflightApi.hpp">
<Filter>Header Files</Filter>
</ClInclude>
<ClInclude Include="include\vehicles\multirotor\firmwares\betaflight\BetaflightParams.hpp">
<Filter>Header Files</Filter>
</ClInclude>
</ItemGroup>
<ItemGroup>
<ClCompile Include="src\safety\ObstacleMap.cpp">
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3 changes: 2 additions & 1 deletion AirLib/include/common/AirSimSettings.hpp
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Expand Up @@ -32,6 +32,7 @@ namespace airlib
static constexpr char const* kVehicleTypeArduCopterSolo = "arducoptersolo";
static constexpr char const* kVehicleTypeSimpleFlight = "simpleflight";
static constexpr char const* kVehicleTypeArduCopter = "arducopter";
static constexpr char const* kVehicleTypeBetaflight = "betaflight";
static constexpr char const* kVehicleTypePhysXCar = "physxcar";
static constexpr char const* kVehicleTypeArduRover = "ardurover";
static constexpr char const* kVehicleTypeComputerVision = "computervision";
Expand Down Expand Up @@ -817,7 +818,7 @@ namespace airlib
auto vehicle_type = Utils::toLower(settings_json.getString("VehicleType", ""));

std::unique_ptr<VehicleSetting> vehicle_setting;
if (vehicle_type == kVehicleTypePX4 || vehicle_type == kVehicleTypeArduCopterSolo || vehicle_type == kVehicleTypeArduCopter || vehicle_type == kVehicleTypeArduRover)
if (vehicle_type == kVehicleTypePX4 || vehicle_type == kVehicleTypeArduCopterSolo || vehicle_type == kVehicleTypeArduCopter || vehicle_type == kVehicleTypeBetaflight || vehicle_type == kVehicleTypeArduRover)
vehicle_setting = createMavLinkVehicleSetting(settings_json);
//for everything else we don't need derived class yet
else {
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4 changes: 4 additions & 0 deletions AirLib/include/vehicles/multirotor/MultiRotorParamsFactory.hpp
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Expand Up @@ -9,6 +9,7 @@
#include "vehicles/multirotor/firmwares/simple_flight/SimpleFlightQuadXParams.hpp"
#include "vehicles/multirotor/firmwares/mavlink/ArduCopterSoloParams.hpp"
#include "vehicles/multirotor/firmwares/arducopter/ArduCopterParams.hpp"
#include "vehicles/multirotor/firmwares/betaflight/BetaflightParams.hpp"

namespace msr
{
Expand All @@ -33,6 +34,9 @@ namespace airlib
else if (vehicle_setting->vehicle_type == AirSimSettings::kVehicleTypeArduCopter) {
config.reset(new ArduCopterParams(*static_cast<const AirSimSettings::MavLinkVehicleSetting*>(vehicle_setting), sensor_factory));
}
else if (vehicle_setting->vehicle_type == AirSimSettings::kVehicleTypeBetaflight) {
config.reset(new BetaflightParams(*static_cast<const AirSimSettings::MavLinkVehicleSetting*>(vehicle_setting), sensor_factory));
}
else if (vehicle_setting->vehicle_type == "" || //default config
vehicle_setting->vehicle_type == AirSimSettings::kVehicleTypeSimpleFlight) {
config.reset(new SimpleFlightQuadXParams(vehicle_setting, sensor_factory));
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