SITL: add baro param file

2024-09-15 21:34:20 -07:00 · 2024-09-15 21:34:20 -07:00 · ac2751c17b
parent 9bff62b3cb
commit ac2751c17b
1 changed files with 78 additions and 0 deletions
--- a/libraries/SITL/SITL_Baro.cpp
+++ b/libraries/SITL/SITL_Baro.cpp
@ -0,0 +1,78 @@
+#include "SITL.h"
+
+#if AP_SIM_ENABLED
+
+namespace SITL {
+// user settable parameters for barometers
+const AP_Param::GroupInfo SIM::BaroParm::var_info[] = {
+    // @Param: RND
+    // @DisplayName: Barometer noise
+    // @Description: Barometer noise in height
+    // @Units: m
+    // @User: Advanced
+    AP_GROUPINFO("RND",      1, SIM::BaroParm,  noise, 0.2f),
+    // @Param: DRIFT
+    // @DisplayName: Barometer altitude drift
+    // @Description: Barometer altitude drifts at this rate
+    // @Units: m/s
+    // @User: Advanced
+    AP_GROUPINFO("DRIFT",    2, SIM::BaroParm,  drift, 0),
+    // @Param: DISABLE
+    // @DisplayName: Barometer disable
+    // @Description: Disable barometer in SITL
+    // @Values: 0:Disable, 1:Enable
+    // @User: Advanced
+    AP_GROUPINFO("DISABLE",  3, SIM::BaroParm,  disable, 0),
+    // @Param: GLITCH
+    // @DisplayName: Barometer glitch
+    // @Description: Barometer glitch height in SITL
+    // @Units: m
+    // @User: Advanced
+    AP_GROUPINFO("GLITCH",   4, SIM::BaroParm,  glitch, 0),
+    // @Param: FREEZE
+    // @DisplayName: Barometer freeze
+    // @Description: Freeze barometer to last recorded altitude
+    // @User: Advanced
+    AP_GROUPINFO("FREEZE",   5, SIM::BaroParm,  freeze, 0),
+    // @Param: DELAY
+    // @DisplayName: Barometer delay
+    // @Description: Barometer data time delay
+    // @Units: ms
+    // @User: Advanced
+    AP_GROUPINFO("DELAY",    6, SIM::BaroParm,  delay, 0),
+
+    // @Param: WCF_FWD
+    // @DisplayName: Wind coefficient forward
+    // @Description: Barometer wind coefficient direction forward in SITL
+    // @User: Advanced
+    AP_GROUPINFO("WCF_FWD", 7,  SIM::BaroParm, wcof_xp, 0.0),
+    // @Param: WCF_BAK
+    // @DisplayName: Wind coefficient backward
+    // @Description: Barometer wind coefficient direction backward in SITL
+    // @User: Advanced
+    AP_GROUPINFO("WCF_BAK", 8,  SIM::BaroParm, wcof_xn, 0.0),
+    // @Param: WCF_RGT
+    // @DisplayName: Wind coefficient right
+    // @Description: Barometer wind coefficient direction right in SITL
+    // @User: Advanced
+    AP_GROUPINFO("WCF_RGT", 9,  SIM::BaroParm, wcof_yp, 0.0),
+    // @Param: WCF_LFT
+    // @DisplayName: Wind coefficient left
+    // @Description: Barometer wind coefficient direction left in SITL
+    // @User: Advanced
+    AP_GROUPINFO("WCF_LFT", 10, SIM::BaroParm, wcof_yn, 0.0),
+    // @Param: WCF_UP
+    // @DisplayName: Wind coefficient up
+    // @Description: Barometer wind coefficient direction up in SITL
+    // @User: Advanced
+    AP_GROUPINFO("WCF_UP",  11, SIM::BaroParm, wcof_zp, 0.0),
+    // @Param: WCF_DN
+    // @DisplayName: Wind coefficient down
+    // @Description: Barometer wind coefficient direction down in SITL
+    // @User: Advanced
+    AP_GROUPINFO("WCF_DN",  12, SIM::BaroParm, wcof_zn, 0.0),
+    AP_GROUPEND
+};
+}
+
+#endif  // AP_SIM_ENABLED