From ffe57cb7053075ac0c8ce3a096e598da921b1dc9 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Wed, 3 Oct 2012 23:31:53 +0200
Subject: [PATCH] (re)enabled xplane hil (flightgear hil and xplane hil should
 both work)

---
 src/uas/UAS.cc        | 21 +++++++++++++++++++--
 src/uas/UAS.h         |  4 +++-
 src/ui/uas/UASView.cc |  4 ++--
 3 files changed, 24 insertions(+), 5 deletions(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index ccf5877b7..cfe62c783 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -97,7 +97,7 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     paramManager(NULL),
     attitudeStamped(false),
     lastAttitude(0),
-    simulation(new QGCFlightGearLink(this)),
+    simulation(new QGCXPlaneLink(this)),
     isLocalPositionKnown(false),
     isGlobalPositionKnown(false),
     systemIsArmed(false),
@@ -2592,7 +2592,24 @@ bool UAS::emergencyKILL()
 /**
 * If enabled, connect the fligth gear link. 
 */
-void UAS::enableHil(bool enable)
+void UAS::enableHilFlightGear(bool enable)
+{
+    // Connect Flight Gear Link
+    if (enable)
+    {
+        simulation = new QGCFlightGearLink(this);
+        startHil();
+    }
+    else
+    {
+        stopHil();
+    }
+}
+
+/**
+* If enabled, connect the fligth gear link.
+*/
+void UAS::enableHilXPlane(bool enable)
 {
     // Connect Flight Gear Link
     if (enable)
diff --git a/src/uas/UAS.h b/src/uas/UAS.h
index fe37b2c74..e56a58a6a 100644
--- a/src/uas/UAS.h
+++ b/src/uas/UAS.h
@@ -528,7 +528,9 @@ public slots:
     void go();
 
     /** @brief Enable / disable HIL */
-    void enableHil(bool enable);
+    void enableHilFlightGear(bool enable);
+    void enableHilXPlane(bool enable);
+
 
     /** @brief Send the full HIL state to the MAV */
 
diff --git a/src/ui/uas/UASView.cc b/src/ui/uas/UASView.cc
index 816dc416b..f1429795c 100644
--- a/src/ui/uas/UASView.cc
+++ b/src/ui/uas/UASView.cc
@@ -122,8 +122,8 @@ UASView::UASView(UASInterface* uas, QWidget *parent) :
     connect(removeAction, SIGNAL(triggered()), this, SLOT(deleteLater()));
     connect(renameAction, SIGNAL(triggered()), this, SLOT(rename()));
     connect(selectAction, SIGNAL(triggered()), uas, SLOT(setSelected()));
-    connect(hilAction, SIGNAL(triggered(bool)), uas, SLOT(enableHil(bool)));
-    connect(hilXAction, SIGNAL(triggered(bool)), uas, SLOT(enableHil(bool)));
+    connect(hilAction, SIGNAL(triggered(bool)), uas, SLOT(enableHilFlightGear(bool)));
+    connect(hilXAction, SIGNAL(triggered(bool)), uas, SLOT(enableHilXPlane(bool)));
     connect(selectAirframeAction, SIGNAL(triggered()), this, SLOT(selectAirframe()));
     connect(setBatterySpecsAction, SIGNAL(triggered()), this, SLOT(setBatterySpecs()));
     connect(uas, SIGNAL(systemRemoved()), this, SLOT(deleteLater()));
-- 
2.22.0