From 021d9717c4f8cee8a332692323a644347bbf85f7 Mon Sep 17 00:00:00 2001
From: Anthony Luo <anthonyluo100@gmail.com>
Date: Wed, 20 Sep 2023 22:03:11 -0400
Subject: [PATCH] SITL: document airspeed params

---
 libraries/SITL/SITL.cpp          | 35 ++++++++++---------------
 libraries/SITL/SITL_Airspeed.cpp | 44 ++++++++++++++++++++++++++++++++
 2 files changed, 58 insertions(+), 21 deletions(-)
 create mode 100644 libraries/SITL/SITL_Airspeed.cpp

diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp
index 6e455bf13a..3d3add9002 100644
--- a/libraries/SITL/SITL.cpp
+++ b/libraries/SITL/SITL.cpp
@@ -160,6 +160,11 @@ const AP_Param::GroupInfo SIM::var_info[] = {
     // @Range: 1 10
     // @User: Advanced    
     AP_GROUPINFO("SPEEDUP",       52, SIM,  speedup, -1),
+    // @Param: IMU_POS
+    // @DisplayName: IMU Offsets
+    // @Description: XYZ position of the IMU accelerometer relative to the body frame origin
+    // @Units: m
+    // @Vector3Parameter: 1
     AP_GROUPINFO("IMU_POS",       53, SIM,  imu_pos_offset, 0),
     AP_SUBGROUPEXTENSION("",      54, SIM,  var_ins),
     AP_GROUPINFO("SONAR_POS",     55, SIM,  rngfnd_pos_offset, 0),
@@ -353,7 +358,9 @@ const AP_Param::GroupInfo SIM::var_info3[] = {
 
     AP_GROUPINFO("RATE_HZ",  22, SIM,  loop_rate_hz, SIM_RATE_HZ_DEFAULT),
 
-    // count of simulated IMUs
+    // @Param: IMU_COUNT
+    // @DisplayName: IMU count
+    // @Description: Number of simulated IMUs to create
     AP_GROUPINFO("IMU_COUNT",    23, SIM,  imu_count,  2),
 
     // @Path: ./SIM_FETtecOneWireESC.cpp
@@ -432,9 +439,13 @@ const AP_Param::GroupInfo SIM::var_info3[] = {
     // @User: Advanced
     AP_GROUPINFO("UART_LOSS", 42, SIM,  uart_byte_loss_pct, 0),
 
-    AP_SUBGROUPINFO(airspeed[0], "ARSPD_", 50, SIM, SIM::AirspeedParm),
+    // @Group: ARSPD_
+    // @Path: ./SITL_Airspeed.cpp
+    AP_SUBGROUPINFO(airspeed[0], "ARSPD_", 50, SIM, AirspeedParm),
 #if AIRSPEED_MAX_SENSORS > 1
-    AP_SUBGROUPINFO(airspeed[1], "ARSPD2_", 51, SIM, SIM::AirspeedParm),
+    // @Group: ARSPD2_
+    // @Path: ./SITL_Airspeed.cpp
+    AP_SUBGROUPINFO(airspeed[1], "ARSPD2_", 51, SIM, AirspeedParm),
 #endif
 
 
@@ -464,24 +475,6 @@ const AP_Param::GroupInfo SIM::BaroParm::var_info[] = {
     AP_GROUPEND
 };
 
-// user settable parameters for airspeed sensors
-const AP_Param::GroupInfo SIM::AirspeedParm::var_info[] = {
-        // user settable parameters for the 1st airspeed sensor
-    AP_GROUPINFO("RND",     1, SIM::AirspeedParm,  noise, 2.0),
-    AP_GROUPINFO("OFS",     2, SIM::AirspeedParm,  offset, 2013),
-    // @Param: ARSPD_FAIL
-    // @DisplayName: Airspeed sensor failure
-    // @Description: Simulates Airspeed sensor 1 failure
-    // @Values: 0:Disabled, 1:Enabled
-    // @User: Advanced
-    AP_GROUPINFO("FAIL",    3, SIM::AirspeedParm,  fail, 0),
-    AP_GROUPINFO("FAILP",   4, SIM::AirspeedParm,  fail_pressure, 0),
-    AP_GROUPINFO("PITOT",   5, SIM::AirspeedParm,  fail_pitot_pressure, 0),
-    AP_GROUPINFO("SIGN",    6, SIM::AirspeedParm,  signflip, 0),
-    AP_GROUPINFO("RATIO",   7, SIM::AirspeedParm,  ratio, 1.99),
-    AP_GROUPEND
-};
-
 #if HAL_SIM_GPS_ENABLED
 // GPS SITL parameters
 const AP_Param::GroupInfo SIM::var_gps[] = {
diff --git a/libraries/SITL/SITL_Airspeed.cpp b/libraries/SITL/SITL_Airspeed.cpp
new file mode 100644
index 0000000000..ea1289386b
--- /dev/null
+++ b/libraries/SITL/SITL_Airspeed.cpp
@@ -0,0 +1,44 @@
+#include "SITL.h"
+
+#if AP_SIM_ENABLED
+
+namespace SITL {
+// user settable parameters for airspeed sensors
+const AP_Param::GroupInfo SIM::AirspeedParm::var_info[] = {
+        // user settable parameters for the 1st airspeed sensor
+    AP_GROUPINFO("RND",     1, AirspeedParm,  noise, 2.0),
+    AP_GROUPINFO("OFS",     2, AirspeedParm,  offset, 2013),
+    // @Param: FAIL
+    // @DisplayName: Airspeed sensor failure
+    // @Description: Simulates Airspeed sensor 1 failure
+    // @Values: 0:Disabled, 1:Enabled
+    // @User: Advanced
+    AP_GROUPINFO("FAIL",    3, AirspeedParm,  fail, 0),
+    // @Param: FAILP
+    // @DisplayName: Airspeed sensor failure pressure
+    // @Description: Simulated airspeed sensor failure pressure
+    // @Units: Pa
+    // @User: Advanced
+    AP_GROUPINFO("FAILP",   4, AirspeedParm,  fail_pressure, 0),
+    // @Param: PITOT
+    // @DisplayName: Airspeed pitot tube failure pressure
+    // @Description: Simulated airspeed sensor pitot tube failure pressure
+    // @Units: Pa
+    // @User: Advanced
+    AP_GROUPINFO("PITOT",   5, AirspeedParm,  fail_pitot_pressure, 0),
+    // @Param: SIGN
+    // @DisplayName: Airspeed signflip
+    // @Description: Simulated airspeed sensor with reversed pitot/static connections
+    // @Values: 0:Disabled, 1:Enabled
+    // @User: Advanced
+    AP_GROUPINFO("SIGN",    6, AirspeedParm,  signflip, 0),
+    // @Param: RATIO
+    // @DisplayName: Airspeed ratios
+    // @Description: Simulated airspeed sensor ratio
+    // @User: Advanced
+    AP_GROUPINFO("RATIO",   7, AirspeedParm,  ratio, 1.99),
+    AP_GROUPEND
+};
+}
+
+#endif  // AP_SIM_ENABLED
\ No newline at end of file