Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

SITL: document airspeed params

This commit is contained in:
Anthony Luo 2023-09-20 22:03:11 -04:00 committed by Peter Barker
parent 293ab353db
commit 021d9717c4
2 changed files with 58 additions and 21 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
libraries/SITL/SITL.cpp
View File

@ -160,6 +160,11 @@ const AP_Param::GroupInfo SIM::var_info[] = {
// @Range: 1 10 // @Range: 1 10
// @User: Advanced // @User: Advanced
AP_GROUPINFO("SPEEDUP", 52, SIM, speedup, -1), 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_GROUPINFO("IMU_POS", 53, SIM, imu_pos_offset, 0),
AP_SUBGROUPEXTENSION("", 54, SIM, var_ins), AP_SUBGROUPEXTENSION("", 54, SIM, var_ins),
AP_GROUPINFO("SONAR_POS", 55, SIM, rngfnd_pos_offset, 0), 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), 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), AP_GROUPINFO("IMU_COUNT", 23, SIM, imu_count, 2),
// @Path: ./SIM_FETtecOneWireESC.cpp // @Path: ./SIM_FETtecOneWireESC.cpp
@ -432,9 +439,13 @@ const AP_Param::GroupInfo SIM::var_info3[] = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("UART_LOSS", 42, SIM, uart_byte_loss_pct, 0), 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 #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 #endif
@ -464,24 +475,6 @@ const AP_Param::GroupInfo SIM::BaroParm::var_info[] = {
AP_GROUPEND 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 #if HAL_SIM_GPS_ENABLED
// GPS SITL parameters // GPS SITL parameters
const AP_Param::GroupInfo SIM::var_gps[] = { const AP_Param::GroupInfo SIM::var_gps[] = {

44
libraries/SITL/SITL_Airspeed.cpp Normal file
View File

@ -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