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SITL: vicon param descriptions

This commit is contained in:
Randy Mackay 2024-02-21 08:53:30 +09:00 committed by Andrew Tridgell
parent 3b156b90ac
commit 52690ce0d4
1 changed files with 76 additions and 7 deletions
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83
libraries/SITL/SITL.cpp
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@ -332,28 +332,97 @@ const AP_Param::GroupInfo SIM::var_info3[] = {
// Scenario for thermalling simulation, for soaring
AP_GROUPINFO("THML_SCENARI", 12, SIM, thermal_scenario, 0),
// vicon sensor position (position offsets in body frame)
// @Param: VICON_POS_X
// @DisplayName: SITL vicon position on vehicle in Forward direction
// @Description: SITL vicon position on vehicle in Forward direction
// @Units: m
// @Range: 0 10
// @User: Advanced
// @Param: VICON_POS_Y
// @DisplayName: SITL vicon position on vehicle in Right direction
// @Description: SITL vicon position on vehicle in Right direction
// @Units: m
// @Range: 0 10
// @User: Advanced
// @Param: VICON_POS_Z
// @DisplayName: SITL vicon position on vehicle in Down direction
// @Description: SITL vicon position on vehicle in Down direction
// @Units: m
// @Range: 0 10
// @User: Advanced
AP_GROUPINFO("VICON_POS", 14, SIM, vicon_pos_offset, 0),
// Buyoancy for submarines
AP_GROUPINFO_FRAME("BUOYANCY", 15, SIM, buoyancy, 1, AP_PARAM_FRAME_SUB),
// vicon glitch in NED frame
// @Param: VICON_GLIT_X
// @DisplayName: SITL vicon position glitch North
// @Description: SITL vicon position glitch North
// @Units: m
// @User: Advanced
// @Param: VICON_GLIT_Y
// @DisplayName: SITL vicon position glitch East
// @Description: SITL vicon position glitch East
// @Units: m
// @User: Advanced
// @Param: VICON_GLIT_Z
// @DisplayName: SITL vicon position glitch Down
// @Description: SITL vicon position glitch Down
// @Units: m
// @User: Advanced
AP_GROUPINFO("VICON_GLIT", 16, SIM, vicon_glitch, 0),
// vicon failure
// @Param: VICON_FAIL
// @DisplayName: SITL vicon failure
// @Description: SITL vicon failure
// @Values: 0:Vicon Healthy, 1:Vicon Failed
// @User: Advanced
AP_GROUPINFO("VICON_FAIL", 17, SIM, vicon_fail, 0),
// vicon yaw (in earth frame)
// @Param: VICON_YAW
// @DisplayName: SITL vicon yaw angle in earth frame
// @Description: SITL vicon yaw angle in earth frame
// @Units: deg
// @Range: 0 360
// @User: Advanced
AP_GROUPINFO("VICON_YAW", 18, SIM, vicon_yaw, 0),
// vicon yaw error in degrees (added to reported yaw sent to vehicle)
// @Param: VICON_YAWERR
// @DisplayName: SITL vicon yaw error
// @Description: SITL vicon yaw added to reported yaw sent to vehicle
// @Units: deg
// @Range: -180 180
// @User: Advanced
AP_GROUPINFO("VICON_YAWERR", 19, SIM, vicon_yaw_error, 0),
// vicon message type mask
// @Param: VICON_TMASK
// @DisplayName: SITL vicon type mask
// @Description: SITL vicon messages sent
// @Bitmask: 0:VISION_POSITION_ESTIMATE, 1:VISION_SPEED_ESTIMATE, 2:VICON_POSITION_ESTIMATE, 3:VISION_POSITION_DELTA, 4:ODOMETRY
// @User: Advanced
AP_GROUPINFO("VICON_TMASK", 20, SIM, vicon_type_mask, 3),
// vicon velocity glitch in NED frame
// @Param: VICON_VGLI_X
// @DisplayName: SITL vicon velocity glitch North
// @Description: SITL vicon velocity glitch North
// @Units: m/s
// @User: Advanced
// @Param: VICON_VGLI_Y
// @DisplayName: SITL vicon velocity glitch East
// @Description: SITL vicon velocity glitch East
// @Units: m/s
// @User: Advanced
// @Param: VICON_VGLI_Z
// @DisplayName: SITL vicon velocity glitch Down
// @Description: SITL vicon velocity glitch Down
// @Units: m/s
// @User: Advanced
AP_GROUPINFO("VICON_VGLI", 21, SIM, vicon_vel_glitch, 0),
AP_GROUPINFO("RATE_HZ", 22, SIM, loop_rate_hz, SIM_RATE_HZ_DEFAULT),