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SITL: added SIM_GPS_ALT_OFS

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this is used to give a bad GPS height in SITL, which is very useful for
testing origin vs home issues
This commit is contained in:
Andrew Tridgell 2017-09-18 10:24:45 +10:00
parent 25c7ee4d42
commit 7ade37bd4e
2 changed files with 2 additions and 0 deletions
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1
libraries/SITL/SITL.cpp
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@ -106,6 +106,7 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
AP_GROUPINFO("GPS_LOCKTIME", 5, SITL, gps_lock_time, 0),
AP_GROUPINFO("ARSPD_FAIL_P", 6, SITL, arspd_fail_pressure, 0),
AP_GROUPINFO("ARSPD_PITOT", 7, SITL, arspd_fail_pitot_pressure, 0),
AP_GROUPINFO("GPS_ALT_OFS", 8, SITL, gps_alt_offset, 0),
AP_GROUPEND
};

1
libraries/SITL/SITL.h
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@ -86,6 +86,7 @@ public:
AP_Float arspd_fail_pitot_pressure; // pitot tube failure pressure
AP_Float gps_noise; // amplitude of the gps altitude error
AP_Int16 gps_lock_time; // delay in seconds before GPS gets lock
AP_Int16 gps_alt_offset; // gps alt error
AP_Float mag_noise; // in mag units (earth field is 818)
AP_Float mag_error; // in degrees