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SITL: added new compass parameters

This commit is contained in:
Andrew Tridgell 2020-05-11 19:35:32 +10:00
parent 54deb4cb36
commit 021b37f8e4
2 changed files with 22 additions and 0 deletions
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14
libraries/SITL/SITL.cpp
View File

@ -95,6 +95,7 @@ const AP_Param::GroupInfo SITL::var_info[] = {
AP_GROUPINFO("ENGINE_FAIL", 60, SITL, engine_fail, 0), AP_GROUPINFO("ENGINE_FAIL", 60, SITL, engine_fail, 0),
AP_GROUPINFO("GPS2_TYPE", 61, SITL, gps2_type, SITL::GPS_TYPE_UBLOX), AP_GROUPINFO("GPS2_TYPE", 61, SITL, gps2_type, SITL::GPS_TYPE_UBLOX),
AP_GROUPINFO("ODOM_ENABLE", 62, SITL, odom_enable, 0), AP_GROUPINFO("ODOM_ENABLE", 62, SITL, odom_enable, 0),
AP_SUBGROUPEXTENSION("", 62, SITL, var_info3),
AP_SUBGROUPEXTENSION("", 63, SITL, var_info2), AP_SUBGROUPEXTENSION("", 63, SITL, var_info2),
AP_GROUPEND AP_GROUPEND
}; };
@ -201,6 +202,19 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
}; };
// third table of user settable parameters for SITL.
const AP_Param::GroupInfo SITL::var_info3[] = {
AP_GROUPINFO("MAG1_DEVID", 3, SITL, mag_devid[0], 97539),
AP_GROUPINFO("MAG2_DEVID", 4, SITL, mag_devid[1], 131874),
AP_GROUPINFO("MAG3_DEVID", 5, SITL, mag_devid[2], 263178),
AP_GROUPINFO("MAG4_DEVID", 6, SITL, mag_devid[3], 97283),
AP_GROUPINFO("MAG5_DEVID", 7, SITL, mag_devid[4], 97795),
AP_GROUPINFO("MAG6_DEVID", 8, SITL, mag_devid[5], 98051),
AP_GROUPINFO("MAG7_DEVID", 9, SITL, mag_devid[6], 0),
AP_GROUPINFO("MAG8_DEVID", 10, SITL, mag_devid[7], 0),
AP_GROUPEND
};
/* report SITL state via MAVLink */ /* report SITL state via MAVLink */
void SITL::simstate_send(mavlink_channel_t chan) void SITL::simstate_send(mavlink_channel_t chan)

8
libraries/SITL/SITL.h
View File

@ -3,6 +3,7 @@
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS_MAVLink.h> #include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Common/Location.h> #include <AP_Common/Location.h>
#include <AP_Compass/AP_Compass.h>
#include "SIM_Buzzer.h" #include "SIM_Buzzer.h"
#include "SIM_Gripper_EPM.h" #include "SIM_Gripper_EPM.h"
@ -66,6 +67,7 @@ public:
mag_ofs.set(Vector3f(5, 13, -18)); mag_ofs.set(Vector3f(5, 13, -18));
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
AP_Param::setup_object_defaults(this, var_info2); AP_Param::setup_object_defaults(this, var_info2);
AP_Param::setup_object_defaults(this, var_info3);
if (_singleton != nullptr) { if (_singleton != nullptr) {
AP_HAL::panic("Too many SITL instances"); AP_HAL::panic("Too many SITL instances");
} }
@ -111,6 +113,11 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
static const struct AP_Param::GroupInfo var_info2[]; static const struct AP_Param::GroupInfo var_info2[];
static const struct AP_Param::GroupInfo var_info3[];
// Board Orientation (and inverse)
Matrix3f ahrs_rotation;
Matrix3f ahrs_rotation_inv;
// noise levels for simulated sensors // noise levels for simulated sensors
AP_Float baro_noise; // in metres AP_Float baro_noise; // in metres
@ -180,6 +187,7 @@ public:
AP_Int8 gps_hdg_enabled; // enable the output of a NMEA heading HDT sentence AP_Int8 gps_hdg_enabled; // enable the output of a NMEA heading HDT sentence
AP_Int32 loop_delay; // extra delay to add to every loop AP_Int32 loop_delay; // extra delay to add to every loop
AP_Float mag_scaling; // scaling factor on first compasses AP_Float mag_scaling; // scaling factor on first compasses
AP_Int32 mag_devid[MAX_CONNECTED_MAGS]; // Mag devid
// wind control // wind control
enum WindType { enum WindType {