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SITL: added SIM_GPS2_HDG and rationalise the GPS position variables

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This commit is contained in:
Andrew Tridgell 2020-04-02 22:12:25 +11:00
parent 5e09553449
commit 778532d556
4 changed files with 6 additions and 10 deletions
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8
libraries/SITL/SITL.cpp
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@ -89,7 +89,7 @@ const AP_Param::GroupInfo SITL::var_info[] = {
AP_GROUPINFO("ADSB_TX", 51, SITL, adsb_tx, 0),
AP_GROUPINFO("SPEEDUP", 52, SITL, speedup, -1),
AP_GROUPINFO("IMU_POS", 53, SITL, imu_pos_offset, 0),
AP_GROUPINFO("GPS_POS", 54, SITL, gps_pos_offset[0], 0),
AP_GROUPINFO("GPS_POS1", 54, SITL, gps_pos_offset[0], 0),
AP_GROUPINFO("SONAR_POS", 55, SITL, rngfnd_pos_offset, 0),
AP_GROUPINFO("FLOW_POS", 56, SITL, optflow_pos_offset, 0),
AP_GROUPINFO("ACC2_BIAS", 57, SITL, accel2_bias, 0),
@ -172,7 +172,7 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
AP_GROUPINFO("GND_BEHAV", 41, SITL, gnd_behav, -1),
AP_GROUPINFO("BARO_COUNT", 42, SITL, baro_count, 1),
AP_GROUPINFO("GPS_HDG", 43, SITL, gps_hdg_enabled, 0),
AP_GROUPINFO("GPS_HDG", 43, SITL, gps_hdg_enabled[0], 0),
// sailboat wave and tide simulation parameters
AP_GROUPINFO("WAVE_ENABLE", 44, SITL, wave.enable, 0.0f),
@ -218,7 +218,7 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
// third table of user settable parameters for SITL.
const AP_Param::GroupInfo SITL::var_info3[] = {
AP_GROUPINFO("ODOM_ENABLE", 1, SITL, odom_enable, 0),
AP_GROUPINFO("GPS2_POS", 2, SITL, gps_pos_offset[1], 0),
AP_GROUPINFO("GPS_POS2", 2, SITL, gps_pos_offset[1], 0),
AP_GROUPINFO("MAG1_DEVID", 3, SITL, mag_devid[0], 97539),
AP_GROUPINFO("MAG2_DEVID", 4, SITL, mag_devid[1], 131874),
AP_GROUPINFO("MAG3_DEVID", 5, SITL, mag_devid[2], 263178),
@ -233,6 +233,8 @@ const AP_Param::GroupInfo SITL::var_info3[] = {
// Scenario for thermalling simulation, for soaring
AP_GROUPINFO("THML_SCENARI",12, SITL, thermal_scenario, 0),
AP_GROUPINFO("GPS2_HDG", 13, SITL, gps_hdg_enabled[1], 0),
AP_GROUPEND
};

2
libraries/SITL/SITL.h
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@ -187,7 +187,7 @@ public:
AP_Int8 telem_baudlimit_enable; // enable baudrate limiting on links
AP_Float flow_noise; // optical flow measurement noise (rad/sec)
AP_Int8 baro_count; // number of simulated baros to create
AP_Int8 gps_hdg_enabled; // enable the output of a NMEA heading HDT sentence
AP_Int8 gps_hdg_enabled[2]; // enable the output of a NMEA heading HDT sentence or UBLOX RELPOSNED
AP_Int32 loop_delay; // extra delay to add to every loop
AP_Float mag_scaling; // scaling factor on first compasses
AP_Int32 mag_devid[MAX_CONNECTED_MAGS]; // Mag devid

3
libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
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@ -672,9 +672,6 @@ SIM_GPS_HZ,20
SIM_GPS_LOCKTIME,0
SIM_GPS_NOISE,0
SIM_GPS_NUMSATS,10
SIM_GPS_POS_X,0
SIM_GPS_POS_Y,0
SIM_GPS_POS_Z,0
SIM_GPS_TYPE,1
SIM_GPS2_ENABLE,0
SIM_GPS2_TYPE,1

3
libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
View File

@ -693,9 +693,6 @@ SIM_GPS_HZ,20
SIM_GPS_LOCKTIME,0
SIM_GPS_NOISE,0
SIM_GPS_NUMSATS,10
SIM_GPS_POS_X,0
SIM_GPS_POS_Y,0
SIM_GPS_POS_Z,0
SIM_GPS_TYPE,1
SIM_GPS2_ENABLE,0
SIM_GPS2_TYPE,1