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SITL: add parameter MAG_DEVID in SITL

This commit is contained in:
Siddharth Purohit 2019-12-23 15:03:30 +08:00 committed by Randy Mackay
parent 8d227d401a
commit 8a7dcafa0f
2 changed files with 12 additions and 2 deletions
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11
libraries/SITL/SITL.cpp
View File

@ -217,10 +217,19 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
const AP_Param::GroupInfo SITL::var_info3[] = { const AP_Param::GroupInfo SITL::var_info3[] = {
AP_GROUPINFO("ODOM_ENABLE", 1, SITL, odom_enable, 0), AP_GROUPINFO("ODOM_ENABLE", 1, SITL, odom_enable, 0),
AP_GROUPINFO("GPS2_POS", 2, SITL, gps_pos_offset[1], 0), AP_GROUPINFO("GPS2_POS", 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),
AP_GROUPINFO("MAG4_DEVID", 6, SITL, mag_devid[3], 97283),
AP_GROUPINFO("MAG5_DEVID", 7, SITL, mag_devid[4], 97795),
AP_GROUPINFO("MAG6_DEVID", 8, SITL, mag_devid[5], 98051),
AP_GROUPINFO("MAG7_DEVID", 9, SITL, mag_devid[6], 0),
AP_GROUPINFO("MAG8_DEVID", 10, SITL, mag_devid[7], 0),
AP_GROUPEND AP_GROUPEND
}; };
/* report SITL state via MAVLink */ /* report SITL state via MAVLink */
void SITL::simstate_send(mavlink_channel_t chan) void SITL::simstate_send(mavlink_channel_t chan)
{ {

3
libraries/SITL/SITL.h
View File

@ -7,7 +7,7 @@
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS_MAVLink.h> #include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Common/Location.h> #include <AP_Common/Location.h>
#include <AP_Compass/AP_Compass.h>
#include "SIM_Buzzer.h" #include "SIM_Buzzer.h"
#include "SIM_Gripper_EPM.h" #include "SIM_Gripper_EPM.h"
#include "SIM_Gripper_Servo.h" #include "SIM_Gripper_Servo.h"
@ -185,6 +185,7 @@ public:
AP_Int8 gps_hdg_enabled; // enable the output of a NMEA heading HDT sentence AP_Int8 gps_hdg_enabled; // enable the output of a NMEA heading HDT sentence
AP_Int32 loop_delay; // extra delay to add to every loop AP_Int32 loop_delay; // extra delay to add to every loop
AP_Float mag_scaling; // scaling factor on first compasses AP_Float mag_scaling; // scaling factor on first compasses
AP_Int32 mag_devid[MAX_CONNECTED_MAGS]; // Mag devid
// EFI type // EFI type
enum EFIType { enum EFIType {