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SITL: added SIM_ACCEL_FAIL option 

used to test accelerometer failure in flight
This commit is contained in:
Andrew Tridgell 2013-11-07 12:49:08 +11:00
parent 9d7f24f754
commit 428479b9d5
3 changed files with 8 additions and 0 deletions
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6
libraries/AP_HAL_AVR_SITL/sitl_ins.cpp
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@ -111,6 +111,12 @@ void SITL_State::_update_ins(float roll, float pitch, float yaw, // Relative
yAccel += accel_noise * _rand_float();
zAccel += accel_noise * _rand_float();
if (fabs(_sitl->accel_fail) > 1.0e-6) {
xAccel = _sitl->accel_fail;
yAccel = _sitl->accel_fail;
zAccel = _sitl->accel_fail;
}
p += gyro_noise * _rand_float();
q += gyro_noise * _rand_float();
r += gyro_noise * _rand_float();

1
libraries/SITL/SITL.cpp
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@ -46,6 +46,7 @@ const AP_Param::GroupInfo SITL::var_info[] PROGMEM = {
AP_GROUPINFO("GPS_HZ", 18, SITL, gps_hertz, 5),
AP_GROUPINFO("BATT_VOLTAGE", 19, SITL, batt_voltage, 12.6),
AP_GROUPINFO("ASPD_RND", 20, SITL, aspd_noise, 0.5),
AP_GROUPINFO("ACCEL_FAIL", 21, SITL, accel_fail, 0),
AP_GROUPEND
};

1
libraries/SITL/SITL.h
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@ -65,6 +65,7 @@ public:
AP_Vector3f gps_glitch; // glitch offsets in lat, lon and altitude
AP_Int8 gps_hertz; // GPS update rate in Hz
AP_Float batt_voltage; // battery voltage base
AP_Float accel_fail; // accelerometer failure value
// wind control
AP_Float wind_speed;