SITL: added a separate param class for SITL baro params

makes it easier to add more

libraries/SITL/SITL.cpp

@@ -229,23 +229,13 @@ const AP_Param::GroupInfo SITL::var_info3[] = {
     // @Path: ./SIM_IntelligentEnergy24.cpp
     AP_SUBGROUPINFO(ie24_sim, "IE24_", 32, SITL, IntelligentEnergy24),
 
-    // user settable parameters for the 1st barometer
+    // user settable barometer parameters
-    AP_GROUPINFO("BARO_RND",      35, SITL,  baro_noise[0], 0.2f),
+    AP_GROUPINFO("BARO_COUNT",    33, SITL,  baro_count, 2),
-    AP_GROUPINFO("BARO_DRIFT",    36, SITL,  baro_drift[0], 0),
-    AP_GROUPINFO("BARO_DISABLE",  37, SITL,  baro_disable[0], 0),
-    AP_GROUPINFO("BARO_GLITCH",   38, SITL,  baro_glitch[0], 0),
-    AP_GROUPINFO("BARO_FREEZE",   39, SITL,  baro_freeze[0], 0),
 
-    // user settable parameters for the 2nd barometer
+    AP_SUBGROUPINFO(baro[0], "BARO_", 34, SITL, SITL::BaroParm),
-    AP_GROUPINFO("BARO2_RND",     41, SITL,  baro_noise[1], 0.1f),
+    AP_SUBGROUPINFO(baro[1], "BAR2_", 35, SITL, SITL::BaroParm),
-    AP_GROUPINFO("BARO2_DRIFT",   42, SITL,  baro_drift[1], 0),
+    AP_SUBGROUPINFO(baro[2], "BAR3_", 36, SITL, SITL::BaroParm),
-    AP_GROUPINFO("BARO2_DISABL",  43, SITL,  baro_disable[1], 0),
-    AP_GROUPINFO("BARO2_GLITCH",  44, SITL,  baro_glitch[1], 0),
-    AP_GROUPINFO("BARO2_FREEZE",  45, SITL,  baro_freeze[1], 0),
 
-    // user settable common barometer parameters
-    AP_GROUPINFO("BARO_DELAY",    47, SITL,  baro_delay, 0),
-    AP_GROUPINFO("BARO_COUNT",    48, SITL,  baro_count, 1),
 
     // user settable parameters for the 1st airspeed sensor
     AP_GROUPINFO("ARSPD_RND",     50, SITL,  arspd_noise[0], 2.0),
@@ -271,6 +261,17 @@ const AP_Param::GroupInfo SITL::var_info3[] = {
     AP_GROUPEND
 };
 
+// user settable parameters for the barometers
+const AP_Param::GroupInfo SITL::BaroParm::var_info[] = {
+    AP_GROUPINFO("RND",      1, SITL::BaroParm,  noise, 0.2f),
+    AP_GROUPINFO("DRIFT",    2, SITL::BaroParm,  drift, 0),
+    AP_GROUPINFO("DISABLE",  3, SITL::BaroParm,  disable, 0),
+    AP_GROUPINFO("GLITCH",   4, SITL::BaroParm,  glitch, 0),
+    AP_GROUPINFO("FREEZE",   5, SITL::BaroParm,  freeze, 0),
+    AP_GROUPINFO("DELAY",    6, SITL::BaroParm,  delay, 0),
+    AP_GROUPEND
+};
+    
 // GPS SITL parameters
 const AP_Param::GroupInfo SITL::var_gps[] = {
     AP_GROUPINFO("GPS_DISABLE",    1, SITL,  gps_disable[0], 0),

libraries/SITL/SITL.h

@@ -99,6 +99,9 @@ public:
 #ifdef SFML_JOYSTICK
         AP_Param::setup_object_defaults(this, var_sfml_joystick);
 #endif // SFML_JOYSTICK
+        for (uint8_t i=0; i<BARO_MAX_INSTANCES; i++) {
+            AP_Param::setup_object_defaults(&baro[i], baro[i].var_info);
+        }
         if (_singleton != nullptr) {
             AP_HAL::panic("Too many SITL instances");
         }
@@ -156,10 +159,6 @@ public:
     Matrix3f ahrs_rotation_inv;
 
     // noise levels for simulated sensors
-    AP_Float baro_noise[BARO_MAX_INSTANCES];  // in metres
-    AP_Float baro_drift[BARO_MAX_INSTANCES];  // in metres per second
-    AP_Float baro_glitch[BARO_MAX_INSTANCES]; // glitch in meters
-    AP_Int8  baro_freeze[BARO_MAX_INSTANCES]; // freeze baro to last recorded altitude
     AP_Float gyro_noise;  // in degrees/second
     AP_Vector3f gyro_scale;  // percentage
     AP_Float accel_noise; // in m/s/s
@@ -212,7 +211,6 @@ public:
     AP_Float accel_fail;  // accelerometer failure value
     AP_Int8  rc_fail;     // fail RC input
     AP_Int8  rc_chancount; // channel count
-    AP_Int8  baro_disable[BARO_MAX_INSTANCES]; // disable simulated barometers
     AP_Int8  float_exception; // enable floating point exception checks
     AP_Int8  flow_enable; // enable simulated optflow
     AP_Int16 flow_rate; // optflow data rate (Hz)
@@ -236,6 +234,19 @@ public:
     AP_Int8 sfml_joystick_axis[8];
 #endif
 
+    // baro parameters
+    class BaroParm {
+    public:
+        static const struct AP_Param::GroupInfo var_info[];
+        AP_Float noise;  // in metres
+        AP_Float drift;  // in metres per second
+        AP_Float glitch; // glitch in meters
+        AP_Int8  freeze; // freeze baro to last recorded altitude
+        AP_Int8  disable; // disable simulated barometers
+        AP_Int16 delay;  // barometer data delay in ms
+    };
+    BaroParm baro[BARO_MAX_INSTANCES];
+
     // EFI type
     enum EFIType {
         EFI_TYPE_NONE = 0,
@@ -262,7 +273,6 @@ public:
     AP_Float wind_type_alt;
     AP_Float wind_type_coef;
 
-    AP_Int16  baro_delay; // barometer data delay in ms
     AP_Int16  mag_delay; // magnetometer data delay in ms
     AP_Int16  wind_delay; // windspeed data delay in ms