SITL: split out GPS and MAG parameters into their own tables

this creates space for new parameter trees

libraries/SITL/SITL.cpp

@@ -38,21 +38,13 @@ 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("MAG_RND",    3, SITL,  mag_noise,   0),
-    AP_GROUPINFO("GPS_DISABLE",4, SITL,  gps_disable, 0),
     AP_GROUPINFO("DRIFT_SPEED",5, SITL,  drift_speed, 0.05f),
     AP_GROUPINFO("DRIFT_TIME", 6, SITL,  drift_time,  5),
-    AP_GROUPINFO("GPS_DELAY",  7, SITL,  gps_delay,   1),
     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("GPS_TYPE",  12, SITL,  gps_type[0],  SITL::GPS_TYPE_UBLOX),
-    AP_GROUPINFO("GPS_BYTELOSS",  13, SITL,  gps_byteloss,  0),
-    AP_GROUPINFO("GPS_NUMSATS",   14, SITL,  gps_numsats,   10),
     AP_GROUPINFO("SERVO_SPEED",   16, SITL,  servo_speed,  0.14),
-    AP_GROUPINFO("GPS_GLITCH",    17, SITL,  gps_glitch[0],  0),
-    AP_GROUPINFO("GPS_HZ",        18, SITL,  gps_hertz,  5),
     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),
@@ -60,10 +52,8 @@ const AP_Param::GroupInfo SITL::var_info[] = {
     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("GPS2_ENABLE",   26, SITL,  gps2_enable, 0),
     AP_GROUPINFO("BARO_DISABLE",  27, SITL,  baro_disable[0], 0),
     AP_GROUPINFO("FLOAT_EXCEPT",  28, SITL,  float_exception, 1),
-    AP_GROUPINFO("MAG_MOT",       29, SITL,  mag_mot, 0),
     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),
@@ -71,31 +61,24 @@ const AP_Param::GroupInfo SITL::var_info[] = {
     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("GPS_DRIFTALT",  37, SITL,  gps_drift_alt, 0),
     AP_GROUPINFO("BARO_DELAY",    38, SITL,  baro_delay, 0),
-    AP_GROUPINFO("MAG_DELAY",     39, SITL,  mag_delay, 0),
     AP_GROUPINFO("WIND_DELAY",    40, SITL,  wind_delay, 0),
-    AP_GROUPINFO("MAG_OFS",       41, SITL,  mag_ofs[0], 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),
     AP_GROUPINFO("ADSB_ALT",      47, SITL,  adsb_altitude_m, 1000),
-    AP_GROUPINFO("MAG_ALY",       48, SITL,  mag_anomaly_ned, 0),
-    AP_GROUPINFO("MAG_ALY_HGT",   49, SITL,  mag_anomaly_hgt, 1.0f),
     AP_GROUPINFO("PIN_MASK",      50, SITL,  pin_mask, 0),
     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_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),
-    AP_GROUPINFO("GPS_NOISE",     58, SITL,  gps_noise, 0),
+    AP_GROUPINFO("ENGINE_FAIL",   58, SITL,  engine_fail,  0),
-    AP_GROUPINFO("GP2_GLITCH",    59, SITL,  gps_glitch[1],  0),
+    AP_SUBGROUPEXTENSION("",      60, SITL,  var_mag),
-    AP_GROUPINFO("ENGINE_FAIL",   60, SITL,  engine_fail,  0),
+    AP_SUBGROUPEXTENSION("",      61, SITL,  var_gps),
-    AP_GROUPINFO("GPS2_TYPE",     61, SITL,  gps_type[1],  SITL::GPS_TYPE_UBLOX),
     AP_SUBGROUPEXTENSION("",      62, SITL,  var_info3),
     AP_SUBGROUPEXTENSION("",      63, SITL,  var_info2),
     AP_GROUPEND
@@ -107,10 +90,8 @@ 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("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_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),
@@ -119,9 +100,6 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
     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),
-    AP_GROUPINFO("MAG_DIA",     18, SITL,  mag_diag[0], 0),
-    AP_GROUPINFO("MAG_ODI",     19, SITL,  mag_offdiag[0], 0),
-    AP_GROUPINFO("MAG_ORIENT",  20, SITL,  mag_orient[0], 0),
     AP_GROUPINFO("RC_CHANCOUNT",21, SITL,  rc_chancount, 16),
     // @Group: SPR_
     // @Path: ./SIM_Sprayer.cpp
@@ -170,7 +148,6 @@ 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], 0),
 
     // sailboat wave and tide simulation parameters
     AP_GROUPINFO("WAVE_ENABLE", 44, SITL,  wave.enable, 0.0f),
@@ -200,8 +177,6 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
 
     AP_GROUPINFO("SAFETY_STATE",    59, SITL,  _safety_switch_state, 0),
 
-    AP_GROUPINFO("MAG_SCALING",    60, SITL,  mag_scaling, 1),
-
     // max motor vibration frequency
     AP_GROUPINFO("VIB_MOT_MAX", 61, SITL,  vibe_motor, 0.0f),
     // minimum throttle for simulated ins noise
@@ -216,23 +191,12 @@ 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("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),
-    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_GROUPINFO("LED_LAYOUT",    11, SITL, led_layout, 0),
 
     // 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),
-
     // vicon sensor position (position offsets in body frame)
     AP_GROUPINFO("VICON_POS",     14, SITL,  vicon_pos_offset, 0),
 
@@ -259,20 +223,6 @@ const AP_Param::GroupInfo SITL::var_info3[] = {
 
     AP_GROUPINFO("RATE_HZ",  22, SITL,  loop_rate_hz, 1200),
 
-#if HAL_COMPASS_MAX_SENSORS > 1
-    AP_GROUPINFO("MAG2_OFS",     23, SITL,  mag_ofs[1], 0),
-    AP_GROUPINFO("MAG2_DIA",     24, SITL,  mag_diag[1], 0),
-    AP_GROUPINFO("MAG2_ODI",     25, SITL,  mag_offdiag[1], 0),
-    AP_GROUPINFO("MAG2_ORIENT",  26, SITL,  mag_orient[1], 0),
-#endif
-
-#if HAL_COMPASS_MAX_SENSORS > 2
-    AP_GROUPINFO("MAG3_OFS",     27, SITL,  mag_ofs[2], 0),
-    AP_GROUPINFO("MAG3_DIA",     28, SITL,  mag_diag[2], 0),
-    AP_GROUPINFO("MAG3_ODI",     29, SITL,  mag_offdiag[2], 0),
-    AP_GROUPINFO("MAG3_ORIENT",  30, SITL,  mag_orient[2], 0),
-#endif
-
     // @Path: ./SIM_RichenPower.cpp
     AP_SUBGROUPINFO(richenpower_sim, "RICH_", 31, SITL, RichenPower),
 
@@ -284,6 +234,64 @@ const AP_Param::GroupInfo SITL::var_info3[] = {
 
     AP_GROUPEND
 };
+
+// GPS SITL parameters
+const AP_Param::GroupInfo SITL::var_gps[] = {
+    AP_GROUPINFO("GPS_DISABLE",    1, SITL,  gps_disable, 0),
+    AP_GROUPINFO("GPS_DELAY",      2, SITL,  gps_delay,   1),
+    AP_GROUPINFO("GPS_TYPE",       3, SITL,  gps_type[0],  SITL::GPS_TYPE_UBLOX),
+    AP_GROUPINFO("GPS_BYTELOSS",   4, SITL,  gps_byteloss,  0),
+    AP_GROUPINFO("GPS_NUMSATS",    5, SITL,  gps_numsats,   10),
+    AP_GROUPINFO("GPS_GLITCH",     6, SITL,  gps_glitch[0],  0),
+    AP_GROUPINFO("GPS_HZ",         7, SITL,  gps_hertz,  5),
+    AP_GROUPINFO("GPS2_ENABLE",    8, SITL,  gps2_enable, 0),
+    AP_GROUPINFO("GPS_DRIFTALT",   9, SITL,  gps_drift_alt, 0),
+    AP_GROUPINFO("GPS_POS1",      10, SITL,  gps_pos_offset[0], 0),
+    AP_GROUPINFO("GPS_NOISE",     11, SITL,  gps_noise, 0),
+    AP_GROUPINFO("GP2_GLITCH",    12, SITL,  gps_glitch[1],  0),
+    AP_GROUPINFO("GPS2_TYPE",     13, SITL,  gps_type[1],  SITL::GPS_TYPE_UBLOX),
+    AP_GROUPINFO("GPS_LOCKTIME",  14, SITL,  gps_lock_time, 0),
+    AP_GROUPINFO("GPS_ALT_OFS",   15, SITL,  gps_alt_offset, 0),
+    AP_GROUPINFO("GPS_HDG",       16, SITL,  gps_hdg_enabled[0], 0),
+    AP_GROUPINFO("GPS_POS2",      17, SITL,  gps_pos_offset[1], 0),
+    AP_GROUPINFO("GPS2_HDG",      18, SITL,  gps_hdg_enabled[1], 0),
+    AP_GROUPEND
+};
+
+// Mag SITL parameters
+const AP_Param::GroupInfo SITL::var_mag[] = {
+    AP_GROUPINFO("MAG_RND",        1, SITL,  mag_noise,   0),
+    AP_GROUPINFO("MAG_MOT",        2, SITL,  mag_mot, 0),
+    AP_GROUPINFO("MAG_DELAY",      3, SITL,  mag_delay, 0),
+    AP_GROUPINFO("MAG_OFS",        4, SITL,  mag_ofs[0], 0),
+    AP_GROUPINFO("MAG_ALY",        5, SITL,  mag_anomaly_ned, 0),
+    AP_GROUPINFO("MAG_ALY_HGT",    6, SITL,  mag_anomaly_hgt, 1.0f),
+    AP_GROUPINFO("MAG_DIA",        7, SITL,  mag_diag[0], 0),
+    AP_GROUPINFO("MAG_ODI",        8, SITL,  mag_offdiag[0], 0),
+    AP_GROUPINFO("MAG_ORIENT",     9, SITL,  mag_orient[0], 0),
+    AP_GROUPINFO("MAG_SCALING",   10, SITL,  mag_scaling, 1),
+    AP_GROUPINFO("MAG1_DEVID",    11, SITL,  mag_devid[0], 97539),
+    AP_GROUPINFO("MAG2_DEVID",    12, SITL,  mag_devid[1], 131874),
+    AP_GROUPINFO("MAG3_DEVID",    13, SITL,  mag_devid[2], 263178),
+    AP_GROUPINFO("MAG4_DEVID",    14, SITL,  mag_devid[3], 97283),
+    AP_GROUPINFO("MAG5_DEVID",    15, SITL,  mag_devid[4], 97795),
+    AP_GROUPINFO("MAG6_DEVID",    16, SITL,  mag_devid[5], 98051),
+    AP_GROUPINFO("MAG7_DEVID",    17, SITL,  mag_devid[6], 0),
+    AP_GROUPINFO("MAG8_DEVID",    18, SITL, mag_devid[7], 0),
+#if HAL_COMPASS_MAX_SENSORS > 1
+    AP_GROUPINFO("MAG2_OFS",      19, SITL,  mag_ofs[1], 0),
+    AP_GROUPINFO("MAG2_DIA",      20, SITL,  mag_diag[1], 0),
+    AP_GROUPINFO("MAG2_ODI",      21, SITL,  mag_offdiag[1], 0),
+    AP_GROUPINFO("MAG2_ORIENT",   22, SITL,  mag_orient[1], 0),
+#endif
+#if HAL_COMPASS_MAX_SENSORS > 2
+    AP_GROUPINFO("MAG3_OFS",      23, SITL,  mag_ofs[2], 0),
+    AP_GROUPINFO("MAG3_DIA",      24, SITL,  mag_diag[2], 0),
+    AP_GROUPINFO("MAG3_ODI",      25, SITL,  mag_offdiag[2], 0),
+    AP_GROUPINFO("MAG3_ORIENT",   36, SITL,  mag_orient[2], 0),
+#endif
+    AP_GROUPEND
+};
     
 /* report SITL state via MAVLink */
 void SITL::simstate_send(mavlink_channel_t chan)

libraries/SITL/SITL.h

@@ -81,6 +81,8 @@ public:
         AP_Param::setup_object_defaults(this, var_info);
         AP_Param::setup_object_defaults(this, var_info2);
         AP_Param::setup_object_defaults(this, var_info3);
+        AP_Param::setup_object_defaults(this, var_gps);
+        AP_Param::setup_object_defaults(this, var_mag);
         if (_singleton != nullptr) {
             AP_HAL::panic("Too many SITL instances");
         }
@@ -127,6 +129,8 @@ public:
     static const struct AP_Param::GroupInfo var_info[];
     static const struct AP_Param::GroupInfo var_info2[];
     static const struct AP_Param::GroupInfo var_info3[];
+    static const struct AP_Param::GroupInfo var_gps[];
+    static const struct AP_Param::GroupInfo var_mag[];
 
     // Board Orientation (and inverse)
     Matrix3f ahrs_rotation;