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SITL: document SIM_ACCx_BIAS_y

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Peter Barker 2023-08-25 20:56:22 +10:00 committed by Peter Barker
parent 395f829f76
commit 149921792c
1 changed files with 21 additions and 0 deletions
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21
libraries/SITL/SITL.cpp
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@ -592,11 +592,24 @@ const AP_Param::GroupInfo SIM::var_ins[] = {
AP_GROUPINFO("IMUT_TCONST", 3, SIM, imu_temp_tconst, 300), AP_GROUPINFO("IMUT_TCONST", 3, SIM, imu_temp_tconst, 300),
AP_GROUPINFO("IMUT_FIXED", 4, SIM, imu_temp_fixed, 0), AP_GROUPINFO("IMUT_FIXED", 4, SIM, imu_temp_fixed, 0),
#endif #endif
// @Param: ACC1_BIAS
// @DisplayName: Accel 1 bias
// @Description: bias of simulated accelerometer sensor
// @User: Advanced
// @Vector3Parameter: 1
AP_GROUPINFO("ACC1_BIAS", 5, SIM, accel_bias[0], 0), AP_GROUPINFO("ACC1_BIAS", 5, SIM, accel_bias[0], 0),
#if INS_MAX_INSTANCES > 1 #if INS_MAX_INSTANCES > 1
// @Param: ACC2_BIAS
// @DisplayName: Accel 2 bias
// @CopyFieldsFrom: SIM_ACC1_BIAS
// @Vector3Parameter: 1
AP_GROUPINFO("ACC2_BIAS", 6, SIM, accel_bias[1], 0), AP_GROUPINFO("ACC2_BIAS", 6, SIM, accel_bias[1], 0),
#endif #endif
#if INS_MAX_INSTANCES > 2 #if INS_MAX_INSTANCES > 2
// @Param: ACC3_BIAS
// @DisplayName: Accel 3 bias
// @CopyFieldsFrom: SIM_ACC1_BIAS
// @Vector3Parameter: 1
AP_GROUPINFO("ACC3_BIAS", 7, SIM, accel_bias[2], 0), AP_GROUPINFO("ACC3_BIAS", 7, SIM, accel_bias[2], 0),
#endif #endif
AP_GROUPINFO("GYR1_RND", 8, SIM, gyro_noise[0], 0), AP_GROUPINFO("GYR1_RND", 8, SIM, gyro_noise[0], 0),
@ -792,6 +805,10 @@ const AP_Param::GroupInfo SIM::var_ins[] = {
AP_GROUPINFO("GYR4_RND", 38, SIM, gyro_noise[3], 0), AP_GROUPINFO("GYR4_RND", 38, SIM, gyro_noise[3], 0),
// @Param: ACC4_BIAS
// @DisplayName: Accel 4 bias
// @CopyFieldsFrom: SIM_ACC1_BIAS
// @Vector3Parameter: 1
AP_GROUPINFO("ACC4_BIAS", 39, SIM, accel_bias[3], 0), AP_GROUPINFO("ACC4_BIAS", 39, SIM, accel_bias[3], 0),
// @Param: GYR4_BIAS_X // @Param: GYR4_BIAS_X
@ -838,6 +855,10 @@ const AP_Param::GroupInfo SIM::var_ins[] = {
AP_GROUPINFO("GYR5_RND", 45, SIM, gyro_noise[4], 0), AP_GROUPINFO("GYR5_RND", 45, SIM, gyro_noise[4], 0),
// @Param: ACC5_BIAS
// @DisplayName: Accel 5 bias
// @CopyFieldsFrom: SIM_ACC1_BIAS
// @Vector3Parameter: 1
AP_GROUPINFO("ACC5_BIAS", 46, SIM, accel_bias[4], 0), AP_GROUPINFO("ACC5_BIAS", 46, SIM, accel_bias[4], 0),
// @Param: GYR5_BIAS_X // @Param: GYR5_BIAS_X