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SITL: cope with fewer than three INS_MAX_INSTANCEs

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Peter Barker 2021-10-27 08:49:08 +11:00 committed by Peter Barker
parent 38ef0fd4fa
commit 59bda177ff
1 changed files with 29 additions and 0 deletions
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29
libraries/SITL/SITL.cpp
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@ -26,6 +26,7 @@
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#ifdef SFML_JOYSTICK
#ifdef HAVE_SFML_GRAPHICS_HPP
@ -432,25 +433,49 @@ const AP_Param::GroupInfo SIM::var_ins[] = {
AP_GROUPINFO("IMUT_TCONST", 3, SIM, imu_temp_tconst, 300),
AP_GROUPINFO("IMUT_FIXED", 4, SIM, imu_temp_fixed, 0),
AP_GROUPINFO("ACC1_BIAS", 5, SIM, accel_bias[0], 0),
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("ACC2_BIAS", 6, SIM, accel_bias[1], 0),
#endif
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("ACC3_BIAS", 7, SIM, accel_bias[2], 0),
#endif
AP_GROUPINFO("GYR1_RND", 8, SIM, gyro_noise[0], 0),
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("GYR2_RND", 9, SIM, gyro_noise[1], 0),
#endif
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("GYR3_RND", 10, SIM, gyro_noise[2], 0),
#endif
AP_GROUPINFO("ACC1_RND", 11, SIM, accel_noise[0], 0),
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("ACC2_RND", 12, SIM, accel_noise[1], 0),
#endif
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("ACC3_RND", 13, SIM, accel_noise[2], 0),
#endif
AP_GROUPINFO("GYR1_SCALE", 14, SIM, gyro_scale[0], 0),
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("GYR2_SCALE", 15, SIM, gyro_scale[1], 0),
#endif
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("GYR3_SCALE", 16, SIM, gyro_scale[2], 0),
#endif
AP_GROUPINFO("ACCEL1_FAIL", 17, SIM, accel_fail[0], 0),
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("ACCEL2_FAIL", 18, SIM, accel_fail[1], 0),
#endif
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("ACCEL3_FAIL", 19, SIM, accel_fail[2], 0),
#endif
AP_GROUPINFO("GYR_FAIL_MSK", 20, SIM, gyro_fail_mask, 0),
AP_GROUPINFO("ACC_FAIL_MSK", 21, SIM, accel_fail_mask, 0),
AP_GROUPINFO("ACC1_SCAL", 22, SIM, accel_scale[0], 0),
#if INS_MAX_INSTANCES > 1
AP_GROUPINFO("ACC2_SCAL", 23, SIM, accel_scale[1], 0),
#endif
#if INS_MAX_INSTANCES > 2
AP_GROUPINFO("ACC3_SCAL", 24, SIM, accel_scale[2], 0),
#endif
AP_GROUPINFO("ACC_TRIM", 25, SIM, accel_trim, 0),
// @Param: SAIL_TYPE
@ -465,8 +490,12 @@ const AP_Param::GroupInfo SIM::var_ins[] = {
// the IMUT parameters must be last due to the enable parameters
AP_SUBGROUPINFO(imu_tcal[0], "IMUT1_", 61, SIM, AP_InertialSensor::TCal),
#if INS_MAX_INSTANCES > 1
AP_SUBGROUPINFO(imu_tcal[1], "IMUT2_", 62, SIM, AP_InertialSensor::TCal),
#endif
#if INS_MAX_INSTANCES > 2
AP_SUBGROUPINFO(imu_tcal[2], "IMUT3_", 63, SIM, AP_InertialSensor::TCal),
#endif
AP_GROUPEND
};