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SITL: added accel scaling parameters

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Andrew Tridgell 2021-01-20 13:35:13 +11:00 committed by Peter Barker
parent 3e640eed80
commit 9febcc0f98
2 changed files with 30 additions and 24 deletions
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53
libraries/SITL/SITL.cpp
View File

@ -362,30 +362,35 @@ const AP_Param::GroupInfo SITL::var_sfml_joystick[] = {
// INS SITL parameters
const AP_Param::GroupInfo SITL::var_ins[] = {
AP_GROUPINFO("IMUT_START", 1, SITL, imu_temp_start, 25),
AP_GROUPINFO("IMUT_END", 2, SITL, imu_temp_end, 45),
AP_GROUPINFO("IMUT_TCONST", 3, SITL, imu_temp_tconst, 300),
AP_GROUPINFO("IMUT_FIXED", 4, SITL, imu_temp_fixed, 0),
AP_SUBGROUPINFO(imu_tcal[0], "IMUT1_", 5, SITL, AP_InertialSensor::TCal),
AP_SUBGROUPINFO(imu_tcal[1], "IMUT2_", 6, SITL, AP_InertialSensor::TCal),
AP_SUBGROUPINFO(imu_tcal[2], "IMUT3_", 7, SITL, AP_InertialSensor::TCal),
AP_GROUPINFO("ACC1_BIAS", 8, SITL, accel_bias[0], 0),
AP_GROUPINFO("ACC2_BIAS", 9, SITL, accel_bias[1], 0),
AP_GROUPINFO("ACC3_BIAS", 10, SITL, accel_bias[2], 0),
AP_GROUPINFO("GYR1_RND", 11, SITL, gyro_noise[0], 0),
AP_GROUPINFO("GYR2_RND", 12, SITL, gyro_noise[1], 0),
AP_GROUPINFO("GYR3_RND", 13, SITL, gyro_noise[2], 0),
AP_GROUPINFO("ACC1_RND", 14, SITL, accel_noise[0], 0),
AP_GROUPINFO("ACC2_RND", 15, SITL, accel_noise[1], 0),
AP_GROUPINFO("ACC3_RND", 16, SITL, accel_noise[2], 0),
AP_GROUPINFO("GYR1_SCALE", 17, SITL, gyro_scale[0], 0),
AP_GROUPINFO("GYR2_SCALE", 18, SITL, gyro_scale[1], 0),
AP_GROUPINFO("GYR3_SCALE", 19, SITL, gyro_scale[2], 0),
AP_GROUPINFO("ACCEL1_FAIL", 20, SITL, accel_fail[0], 0),
AP_GROUPINFO("ACCEL2_FAIL", 21, SITL, accel_fail[1], 0),
AP_GROUPINFO("ACCEL3_FAIL", 22, SITL, accel_fail[2], 0),
AP_GROUPINFO("GYR_FAIL_MSK", 23, SITL, gyro_fail_mask, 0),
AP_GROUPINFO("ACC_FAIL_MSK", 24, SITL, accel_fail_mask, 0),
AP_GROUPINFO("IMUT_START", 1, SITL, imu_temp_start, 25),
AP_GROUPINFO("IMUT_END", 2, SITL, imu_temp_end, 45),
AP_GROUPINFO("IMUT_TCONST", 3, SITL, imu_temp_tconst, 300),
AP_GROUPINFO("IMUT_FIXED", 4, SITL, imu_temp_fixed, 0),
AP_GROUPINFO("ACC1_BIAS", 5, SITL, accel_bias[0], 0),
AP_GROUPINFO("ACC2_BIAS", 6, SITL, accel_bias[1], 0),
AP_GROUPINFO("ACC3_BIAS", 7, SITL, accel_bias[2], 0),
AP_GROUPINFO("GYR1_RND", 8, SITL, gyro_noise[0], 0),
AP_GROUPINFO("GYR2_RND", 9, SITL, gyro_noise[1], 0),
AP_GROUPINFO("GYR3_RND", 10, SITL, gyro_noise[2], 0),
AP_GROUPINFO("ACC1_RND", 11, SITL, accel_noise[0], 0),
AP_GROUPINFO("ACC2_RND", 12, SITL, accel_noise[1], 0),
AP_GROUPINFO("ACC3_RND", 13, SITL, accel_noise[2], 0),
AP_GROUPINFO("GYR1_SCALE", 14, SITL, gyro_scale[0], 0),
AP_GROUPINFO("GYR2_SCALE", 15, SITL, gyro_scale[1], 0),
AP_GROUPINFO("GYR3_SCALE", 16, SITL, gyro_scale[2], 0),
AP_GROUPINFO("ACCEL1_FAIL", 17, SITL, accel_fail[0], 0),
AP_GROUPINFO("ACCEL2_FAIL", 18, SITL, accel_fail[1], 0),
AP_GROUPINFO("ACCEL3_FAIL", 19, SITL, accel_fail[2], 0),
AP_GROUPINFO("GYR_FAIL_MSK", 20, SITL, gyro_fail_mask, 0),
AP_GROUPINFO("ACC_FAIL_MSK", 21, SITL, accel_fail_mask, 0),
AP_GROUPINFO("ACC1_SCAL", 22, SITL, accel_scale[0], 0),
AP_GROUPINFO("ACC2_SCAL", 23, SITL, accel_scale[1], 0),
AP_GROUPINFO("ACC3_SCAL", 24, SITL, accel_scale[2], 0),
// the IMUT parameters must be last due to the enable parameters
AP_SUBGROUPINFO(imu_tcal[0], "IMUT1_", 61, SITL, AP_InertialSensor::TCal),
AP_SUBGROUPINFO(imu_tcal[1], "IMUT2_", 62, SITL, AP_InertialSensor::TCal),
AP_SUBGROUPINFO(imu_tcal[2], "IMUT3_", 63, SITL, AP_InertialSensor::TCal),
AP_GROUPEND
};

1
libraries/SITL/SITL.h
View File

@ -449,6 +449,7 @@ public:
AP_Vector3f gyro_scale[INS_MAX_INSTANCES]; // percentage
AP_Float accel_noise[INS_MAX_INSTANCES]; // in m/s/s
AP_Vector3f accel_bias[INS_MAX_INSTANCES]; // in m/s/s
AP_Vector3f accel_scale[INS_MAX_INSTANCES]; // in m/s/s
AP_Float accel_fail[INS_MAX_INSTANCES]; // accelerometer failure value
// gyro and accel fail masks
AP_Int8 gyro_fail_mask;