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SITL: add gyro bias simulation

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Peter Barker 2023-02-21 09:16:41 +11:00 committed by Peter Barker
parent 601c46f7e0
commit 4591895540
2 changed files with 58 additions and 0 deletions
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57
libraries/SITL/SITL.cpp
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@ -640,6 +640,63 @@ const AP_Param::GroupInfo SIM::var_ins[] = {
AP_GROUPINFO("GYR_FILE_RW", 29, SIM, gyro_file_rw, INSFileMode::INS_FILE_NONE),
AP_GROUPINFO("ACC_FILE_RW", 30, SIM, accel_file_rw, INSFileMode::INS_FILE_NONE),
#endif
// @Param: GYR1_BIAS_X
// @DisplayName: First Gyro bias on X axis
// @Description: First Gyro bias on X axis
// @Units: rad/s
// @User: Advanced
// @Param: GYR1_BIAS_Y
// @DisplayName: First Gyro bias on Y axis
// @Description: First Gyro bias on Y axis
// @Units: rad/s
// @User: Advanced
// @Param: GYR1_BIAS_Z
// @DisplayName: First Gyro bias on Z axis
// @Description: First Gyro bias on Z axis
// @Units: rad/s
// @User: Advanced
AP_GROUPINFO("GYR1_BIAS", 31, SIM, gyro_bias[0], 0),
#if INS_MAX_INSTANCES > 1
// @Param: GYR2_BIAS_X
// @CopyFieldsFrom: SIM_GYR1_BIAS_X
// @DisplayName: Second Gyro bias on X axis
// @Description: Second Gyro bias on X axis
// @Param: GYR2_BIAS_Y
// @CopyFieldsFrom: SIM_GYR1_BIAS_Y
// @DisplayName: Second Gyro bias on Y axis
// @Description: Second Gyro bias on Y axis
// @Param: GYR2_BIAS_Z
// @CopyFieldsFrom: SIM_GYR1_BIAS_Z
// @DisplayName: Second Gyro bias on Z axis
// @Description: Second Gyro bias on Z axis
AP_GROUPINFO("GYR2_BIAS", 32, SIM, gyro_bias[1], 0),
#endif
#if INS_MAX_INSTANCES > 2
// @Param: GYR3_BIAS_X
// @CopyFieldsFrom: SIM_GYR1_BIAS_X
// @DisplayName: Third Gyro bias on X axis
// @Description: Third Gyro bias on X axis
// @Param: GYR3_BIAS_Y
// @CopyFieldsFrom: SIM_GYR1_BIAS_Y
// @DisplayName: Third Gyro bias on Y axis
// @Description: Third Gyro bias on Y axis
// @Param: GYR3_BIAS_Z
// @CopyFieldsFrom: SIM_GYR1_BIAS_Z
// @DisplayName: Third Gyro bias on Z axis
// @Description: Third Gyro bias on Z axis
AP_GROUPINFO("GYR3_BIAS", 33, SIM, gyro_bias[2], 0),
#endif
// the IMUT parameters must be last due to the enable parameters
#if HAL_INS_TEMPERATURE_CAL_ENABLE
AP_SUBGROUPINFO(imu_tcal[0], "IMUT1_", 61, SIM, AP_InertialSensor::TCal),

1
libraries/SITL/SITL.h
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@ -494,6 +494,7 @@ public:
// IMU control parameters
AP_Float gyro_noise[INS_MAX_INSTANCES]; // in degrees/second
AP_Vector3f gyro_scale[INS_MAX_INSTANCES]; // percentage
AP_Vector3f gyro_bias[INS_MAX_INSTANCES]; // in rad/s
AP_Float accel_noise[INS_MAX_INSTANCES]; // in m/s/s
AP_Vector3f accel_bias[INS_MAX_INSTANCES]; // in m/s/s
AP_Vector3f accel_scale[INS_MAX_INSTANCES]; // in m/s/s