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SITL: add some airspeed, baro, gps noise simulation parameters 

also some rearrangements in the parameter
lists to make things look better
This commit is contained in:
Harshit Kumar Sankhla 2020-07-16 15:47:54 +05:30 committed by Andrew Tridgell
parent 09620ee1e7
commit 8507c7d3b9
2 changed files with 54 additions and 35 deletions
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72
libraries/SITL/SITL.cpp
View File

@ -35,36 +35,30 @@ SITL *SITL::_singleton = nullptr;
// table of user settable parameters
const AP_Param::GroupInfo SITL::var_info[] = {
AP_GROUPINFO("BARO_RND", 0, SITL, baro_noise[0], 0.2f),
AP_GROUPINFO("GYR_RND", 1, SITL, gyro_noise, 0),
AP_GROUPINFO("ACC_RND", 2, SITL, accel_noise, 0),
AP_GROUPINFO("DRIFT_SPEED",5, SITL, drift_speed, 0.05f),
AP_GROUPINFO("DRIFT_TIME", 6, SITL, drift_time, 5),
AP_GROUPINFO("ENGINE_MUL", 8, SITL, engine_mul, 1),
AP_GROUPINFO("WIND_SPD", 9, SITL, wind_speed, 0),
AP_GROUPINFO("WIND_DIR", 10, SITL, wind_direction, 180),
AP_GROUPINFO("WIND_TURB", 11, SITL, wind_turbulance, 0),
AP_GROUPINFO("GYR_RND", 1, SITL, gyro_noise, 0),
AP_GROUPINFO("ACC_RND", 2, SITL, accel_noise, 0),
AP_GROUPINFO("DRIFT_SPEED", 5, SITL, drift_speed, 0.05f),
AP_GROUPINFO("DRIFT_TIME", 6, SITL, drift_time, 5),
AP_GROUPINFO("ENGINE_MUL", 8, SITL, engine_mul, 1),
AP_GROUPINFO("WIND_SPD", 9, SITL, wind_speed, 0),
AP_GROUPINFO("WIND_DIR", 10, SITL, wind_direction, 180),
AP_GROUPINFO("WIND_TURB", 11, SITL, wind_turbulance, 0),
AP_GROUPINFO("SERVO_SPEED", 16, SITL, servo_speed, 0.14),
AP_GROUPINFO("BATT_VOLTAGE", 19, SITL, batt_voltage, 12.6f),
AP_GROUPINFO("ARSPD_RND", 20, SITL, arspd_noise, 0.5f),
AP_GROUPINFO("ACCEL_FAIL", 21, SITL, accel_fail, 0),
AP_GROUPINFO("BARO_DRIFT", 22, SITL, baro_drift[0], 0),
AP_GROUPINFO("SONAR_GLITCH", 23, SITL, sonar_glitch, 0),
AP_GROUPINFO("SONAR_RND", 24, SITL, sonar_noise, 0),
AP_GROUPINFO("RC_FAIL", 25, SITL, rc_fail, 0),
AP_GROUPINFO("BARO_DISABLE", 27, SITL, baro_disable[0], 0),
AP_GROUPINFO("FLOAT_EXCEPT", 28, SITL, float_exception, 1),
AP_GROUPINFO("ACC_BIAS", 30, SITL, accel_bias, 0),
AP_GROUPINFO("BARO_GLITCH", 31, SITL, baro_glitch[0], 0),
AP_GROUPINFO("SONAR_SCALE", 32, SITL, sonar_scale, 12.1212f),
AP_GROUPINFO("FLOW_ENABLE", 33, SITL, flow_enable, 0),
AP_GROUPINFO("TERRAIN", 34, SITL, terrain_enable, 1),
AP_GROUPINFO("FLOW_RATE", 35, SITL, flow_rate, 10),
AP_GROUPINFO("FLOW_DELAY", 36, SITL, flow_delay, 0),
AP_GROUPINFO("BARO_DELAY", 38, SITL, baro_delay, 0),
AP_GROUPINFO("WIND_DELAY", 40, SITL, wind_delay, 0),
AP_GROUPINFO("ACC2_RND", 42, SITL, accel2_noise, 0),
AP_GROUPINFO("ARSPD_FAIL", 43, SITL, arspd_fail, 0),
AP_GROUPINFO("GYR_SCALE", 44, SITL, gyro_scale, 0),
AP_GROUPINFO("ADSB_COUNT", 45, SITL, adsb_plane_count, -1),
AP_GROUPINFO("ADSB_RADIUS", 46, SITL, adsb_radius_m, 10000),
@ -91,13 +85,8 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
AP_GROUPINFO("TEMP_FLIGHT", 2, SITL, temp_flight, 35),
AP_GROUPINFO("TEMP_TCONST", 3, SITL, temp_tconst, 30),
AP_GROUPINFO("TEMP_BFACTOR", 4, SITL, temp_baro_factor, 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("ARSPD_SIGN", 9, SITL, arspd_signflip, 0),
AP_GROUPINFO("WIND_DIR_Z", 10, SITL, wind_dir_z, 0),
AP_GROUPINFO("ARSPD2_FAIL", 11, SITL, arspd2_fail, 0),
AP_GROUPINFO("ARSPD2_FAILP",12, SITL, arspd2_fail_pressure, 0),
AP_GROUPINFO("ARSPD2_PITOT",13, SITL, arspd2_fail_pitot_pressure, 0),
AP_GROUPINFO("WIND_T" ,15, SITL, wind_type, SITL::WIND_TYPE_SQRT),
AP_GROUPINFO("WIND_T_ALT" ,16, SITL, wind_type_alt, 60),
AP_GROUPINFO("WIND_T_COEF", 17, SITL, wind_type_coef, 0.01f),
@ -147,8 +136,6 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
AP_GROUPINFO("TWIST_TIME", 40, SITL, twist.t, 0),
AP_GROUPINFO("GND_BEHAV", 41, SITL, gnd_behav, -1),
AP_GROUPINFO("BARO_COUNT", 42, SITL, baro_count, 1),
// sailboat wave and tide simulation parameters
AP_GROUPINFO("WAVE_ENABLE", 44, SITL, wave.enable, 0.0f),
@ -227,11 +214,40 @@ const AP_Param::GroupInfo SITL::var_info3[] = {
// @Path: ./SIM_RichenPower.cpp
AP_SUBGROUPINFO(richenpower_sim, "RICH_", 31, SITL, RichenPower),
// user settable parameters for the 1st barometer
AP_GROUPINFO("BARO_RND", 35, SITL, baro_noise[0], 0.2f),
AP_GROUPINFO("BARO_DRIFT", 36, SITL, baro_drift[0], 0),
AP_GROUPINFO("BARO_DISABLE", 37, SITL, baro_disable[0], 0),
AP_GROUPINFO("BARO_GLITCH", 38, SITL, baro_glitch[0], 0),
AP_GROUPINFO("BARO_FREEZE", 39, SITL, baro_freeze[0], 0),
// user settable parameters for the 2nd barometer
AP_GROUPINFO("BARO2_RND", 32, SITL, baro_noise[1], 0.1f),
AP_GROUPINFO("BARO2_DRIFT", 33, SITL, baro_drift[1], 0),
AP_GROUPINFO("BARO2_DISABL", 34, SITL, baro_disable[1], 0),
AP_GROUPINFO("BARO2_GLITCH", 35, SITL, baro_glitch[1], 0),
AP_GROUPINFO("BARO2_RND", 41, SITL, baro_noise[1], 0.1f),
AP_GROUPINFO("BARO2_DRIFT", 42, SITL, baro_drift[1], 0),
AP_GROUPINFO("BARO2_DISABL", 43, SITL, baro_disable[1], 0),
AP_GROUPINFO("BARO2_GLITCH", 44, SITL, baro_glitch[1], 0),
AP_GROUPINFO("BARO2_FREEZE", 45, SITL, baro_freeze[1], 0),
// user settable common barometer parameters
AP_GROUPINFO("BARO_DELAY", 47, SITL, baro_delay, 0),
AP_GROUPINFO("BARO_COUNT", 48, SITL, baro_count, 1),
// user settable parameters for the 1st airspeed sensor
AP_GROUPINFO("ARSPD_RND", 50, SITL, arspd_noise[0], 2.0),
AP_GROUPINFO("ARSPD_OFS", 51, SITL, arspd_offset[0], 2013),
AP_GROUPINFO("ARSPD_FAIL", 52, SITL, arspd_fail[0], 0),
AP_GROUPINFO("ARSPD_FAILP", 53, SITL, arspd_fail_pressure[0], 0),
AP_GROUPINFO("ARSPD_PITOT", 54, SITL, arspd_fail_pitot_pressure[0], 0),
// user settable parameters for the 2nd airspeed sensor
AP_GROUPINFO("ARSPD2_RND", 56, SITL, arspd_noise[1], 2.0),
AP_GROUPINFO("ARSPD2_OFS", 57, SITL, arspd_offset[1], 2013),
AP_GROUPINFO("ARSPD2_FAIL", 58, SITL, arspd_fail[1], 0),
AP_GROUPINFO("ARSPD2_FAILP", 59, SITL, arspd_fail_pressure[1], 0),
AP_GROUPINFO("ARSPD2_PITOT", 60, SITL, arspd_fail_pitot_pressure[1], 0),
// user settable common airspeed parameters
AP_GROUPINFO("ARSPD_SIGN", 62, SITL, arspd_signflip, 0),
AP_GROUPEND
};
@ -252,6 +268,7 @@ const AP_Param::GroupInfo SITL::var_gps[] = {
AP_GROUPINFO("GPS_ALT_OFS", 12, SITL, gps_alt_offset[0], 0),
AP_GROUPINFO("GPS_HDG", 13, SITL, gps_hdg_enabled[0], 0),
AP_GROUPINFO("GPS_ACC", 14, SITL, gps_accuracy[0], 0.3),
AP_GROUPINFO("GPS_VERR", 15, SITL, gps_vel_err[0], 0),
AP_GROUPINFO("GPS2_DISABLE", 30, SITL, gps_disable[1], 1),
AP_GROUPINFO("GPS2_DELAY", 31, SITL, gps_delay[1], 1),
@ -267,6 +284,7 @@ const AP_Param::GroupInfo SITL::var_gps[] = {
AP_GROUPINFO("GPS2_ALT_OFS", 41, SITL, gps_alt_offset[1], 0),
AP_GROUPINFO("GPS2_HDG", 42, SITL, gps_hdg_enabled[1], 0),
AP_GROUPINFO("GPS2_ACC", 43, SITL, gps_accuracy[1], 0.3),
AP_GROUPINFO("GPS2_VERR", 44, SITL, gps_vel_err[1], 0),
AP_GROUPEND
};

17
libraries/SITL/SITL.h
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@ -145,19 +145,19 @@ public:
AP_Float baro_noise[BARO_MAX_INSTANCES]; // in metres
AP_Float baro_drift[BARO_MAX_INSTANCES]; // in metres per second
AP_Float baro_glitch[BARO_MAX_INSTANCES]; // glitch in meters
AP_Int8 baro_freeze[BARO_MAX_INSTANCES]; // freeze baro to last recorded altitude
AP_Float gyro_noise; // in degrees/second
AP_Vector3f gyro_scale; // percentage
AP_Float accel_noise; // in m/s/s
AP_Float accel2_noise; // in m/s/s
AP_Vector3f accel_bias; // in m/s/s
AP_Vector3f accel2_bias; // in m/s/s
AP_Float arspd_noise; // in m/s
AP_Float arspd_fail; // 1st pitot tube failure
AP_Float arspd2_fail; // 2nd pitot tube failure
AP_Float arspd_fail_pressure; // 1st pitot tube failure pressure
AP_Float arspd_fail_pitot_pressure; // 1st pitot tube failure pressure
AP_Float arspd2_fail_pressure; // 2nd pitot tube failure pressure
AP_Float arspd2_fail_pitot_pressure; // 2nd pitot tube failure pressure
AP_Float arspd_noise[2]; // pressure noise
AP_Float arspd_fail[2]; // airspeed value in m/s to fail to
AP_Float arspd_fail_pressure[2]; // pitot tube failure pressure in Pa
AP_Float arspd_fail_pitot_pressure[2]; // pitot tube failure pressure in Pa
AP_Float arspd_offset[2]; // airspeed sensor offset in m/s
AP_Float mag_noise; // in mag units (earth field is 818)
AP_Vector3f mag_mot; // in mag units per amp
@ -187,9 +187,10 @@ public:
AP_Vector3f gps_glitch[2]; // glitch offsets in lat, lon and altitude
AP_Int8 gps_hertz[2]; // GPS update rate in Hz
AP_Int8 gps_hdg_enabled[2]; // enable the output of a NMEA heading HDT sentence or UBLOX RELPOSNED
AP_Float gps_drift_alt[2];
AP_Float gps_drift_alt[2]; // altitude drift error
AP_Vector3f gps_pos_offset[2]; // XYZ position of the GPS antenna phase centre relative to the body frame origin (m)
AP_Float gps_accuracy[2];
AP_Vector3f gps_vel_err[2]; // Velocity error offsets in NED (x = N, y = E, z = D)
AP_Float batt_voltage; // battery voltage base
AP_Float accel_fail; // accelerometer failure value