bat_sim: parameter for disabling battery simulator #22710
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dagar
approved these changes
Feb 6, 2024
dagar
reviewed
Feb 6, 2024
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| if param compare SIM_BAT_ENABLE 1 | ||
| then | ||
| battery_simulator start |
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It might make sense to shift this over to px4-rc.simulator. https://github.com/PX4/PX4-Autopilot/blob/22a33ee2361869d520be5f4ec446d58548cab5ba/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
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Solved Problem
I would like to run a more complex battery simulation in a standalone application. This can currently be achieved by stopping PX4's internal battery simulator after a boot, and then sending BATTERY_STATUS MAVLink messages.
This PR proposes a parameter that controls the startup of the internal battery simulator. When disabling the battery simulator, it removes the extra step necessary after each boot to stop the battery simulator. But it also produces consistent measurements for PX4, since there will then only be the battery messages coming in through MAVLink.
Solution
SIM_BAT_ENABLEthat defaults to 1, but when set to 0 it won't start the internal battery simulatorChangelog Entry
For release notes:
Alternatives
Alternatively custom board configs for SITL would be required, where the battery_simulator is not launched. But that's not maintainable.
Test coverage
make px4_sitl gz_x500SIM_BAT_ENABLE = 0, and then sending BATTERY_STATUS via MAVLink to PX4