mirror of https://github.com/ArduPilot/ardupilot
Andrew Tridgell
Peter Barker
parent
5e60fac37e
commit
b5089580a9
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@ -44,8 +44,6 @@ SITL *SITL::_singleton = nullptr;
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// table of user settable parameters
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const AP_Param::GroupInfo SITL::var_info[] = {
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AP_GROUPINFO("GYR_RND", 1, SITL, gyro_noise, 0),
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AP_GROUPINFO("ACC_RND", 2, SITL, accel_noise, 0),
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AP_GROUPINFO("DRIFT_SPEED", 5, SITL, drift_speed, 0.05f),
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AP_GROUPINFO("DRIFT_TIME", 6, SITL, drift_time, 5),
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AP_GROUPINFO("ENGINE_MUL", 8, SITL, engine_mul, 1),
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@ -55,20 +53,16 @@ const AP_Param::GroupInfo SITL::var_info[] = {
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AP_GROUPINFO("SERVO_SPEED", 16, SITL, servo_speed, 0.14),
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AP_GROUPINFO("BATT_VOLTAGE", 19, SITL, batt_voltage, 12.6f),
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AP_GROUPINFO("BATT_CAP_AH", 20, SITL, batt_capacity_ah, 0),
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AP_GROUPINFO("ACCEL_FAIL", 21, SITL, accel_fail, 0),
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AP_GROUPINFO("SONAR_GLITCH", 23, SITL, sonar_glitch, 0),
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AP_GROUPINFO("SONAR_RND", 24, SITL, sonar_noise, 0),
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AP_GROUPINFO("RC_FAIL", 25, SITL, rc_fail, 0),
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AP_GROUPINFO("FLOAT_EXCEPT", 28, SITL, float_exception, 1),
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AP_GROUPINFO("ACC_BIAS", 30, SITL, accel_bias, 0),
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AP_GROUPINFO("SONAR_SCALE", 32, SITL, sonar_scale, 12.1212f),
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AP_GROUPINFO("FLOW_ENABLE", 33, SITL, flow_enable, 0),
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AP_GROUPINFO("TERRAIN", 34, SITL, terrain_enable, 1),
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AP_GROUPINFO("FLOW_RATE", 35, SITL, flow_rate, 10),
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AP_GROUPINFO("FLOW_DELAY", 36, SITL, flow_delay, 0),
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AP_GROUPINFO("WIND_DELAY", 40, SITL, wind_delay, 0),
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AP_GROUPINFO("ACC2_RND", 42, SITL, accel2_noise, 0),
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AP_GROUPINFO("GYR_SCALE", 44, SITL, gyro_scale, 0),
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AP_GROUPINFO("ADSB_COUNT", 45, SITL, adsb_plane_count, -1),
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AP_GROUPINFO("ADSB_RADIUS", 46, SITL, adsb_radius_m, 10000),
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AP_GROUPINFO("ADSB_ALT", 47, SITL, adsb_altitude_m, 1000),
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@ -79,7 +73,6 @@ const AP_Param::GroupInfo SITL::var_info[] = {
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AP_SUBGROUPEXTENSION("", 54, SITL, var_ins),
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AP_GROUPINFO("SONAR_POS", 55, SITL, rngfnd_pos_offset, 0),
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AP_GROUPINFO("FLOW_POS", 56, SITL, optflow_pos_offset, 0),
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AP_GROUPINFO("ACC2_BIAS", 57, SITL, accel2_bias, 0),
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AP_GROUPINFO("ENGINE_FAIL", 58, SITL, engine_fail, 0),
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AP_SUBGROUPINFO(shipsim, "SHIP_", 59, SITL, ShipSim),
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AP_SUBGROUPEXTENSION("", 60, SITL, var_mag),
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@ -136,10 +129,6 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
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// optical flow sensor measurement noise in rad/sec
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AP_GROUPINFO("FLOW_RND", 34, SITL, flow_noise, 0.05f),
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// accel and gyro fail masks
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AP_GROUPINFO("GYR_FAIL_MSK", 35, SITL, gyro_fail_mask, 0),
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AP_GROUPINFO("ACC_FAIL_MSK", 36, SITL, accel_fail_mask, 0),
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AP_GROUPINFO("TWIST_X", 37, SITL, twist.x, 0),
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AP_GROUPINFO("TWIST_Y", 38, SITL, twist.y, 0),
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AP_GROUPINFO("TWIST_Z", 39, SITL, twist.z, 0),
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@ -380,6 +369,23 @@ const AP_Param::GroupInfo SITL::var_ins[] = {
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AP_SUBGROUPINFO(imu_tcal[0], "IMUT1_", 5, SITL, AP_InertialSensor::TCal),
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AP_SUBGROUPINFO(imu_tcal[1], "IMUT2_", 6, SITL, AP_InertialSensor::TCal),
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AP_SUBGROUPINFO(imu_tcal[2], "IMUT3_", 7, SITL, AP_InertialSensor::TCal),
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AP_GROUPINFO("ACC1_BIAS", 8, SITL, accel_bias[0], 0),
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AP_GROUPINFO("ACC2_BIAS", 9, SITL, accel_bias[1], 0),
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AP_GROUPINFO("ACC3_BIAS", 10, SITL, accel_bias[2], 0),
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AP_GROUPINFO("GYR1_RND", 11, SITL, gyro_noise[0], 0),
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AP_GROUPINFO("GYR2_RND", 12, SITL, gyro_noise[1], 0),
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AP_GROUPINFO("GYR3_RND", 13, SITL, gyro_noise[2], 0),
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AP_GROUPINFO("ACC1_RND", 14, SITL, accel_noise[0], 0),
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AP_GROUPINFO("ACC2_RND", 15, SITL, accel_noise[1], 0),
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AP_GROUPINFO("ACC3_RND", 16, SITL, accel_noise[2], 0),
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AP_GROUPINFO("GYR1_SCALE", 17, SITL, gyro_scale[0], 0),
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AP_GROUPINFO("GYR2_SCALE", 18, SITL, gyro_scale[1], 0),
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AP_GROUPINFO("GYR3_SCALE", 19, SITL, gyro_scale[2], 0),
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AP_GROUPINFO("ACCEL1_FAIL", 20, SITL, accel_fail[0], 0),
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AP_GROUPINFO("ACCEL2_FAIL", 21, SITL, accel_fail[1], 0),
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AP_GROUPINFO("ACCEL3_FAIL", 22, SITL, accel_fail[2], 0),
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AP_GROUPINFO("GYR_FAIL_MSK", 23, SITL, gyro_fail_mask, 0),
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AP_GROUPINFO("ACC_FAIL_MSK", 24, SITL, accel_fail_mask, 0),
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AP_GROUPEND
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};
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@ -163,14 +163,6 @@ public:
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Matrix3f ahrs_rotation;
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Matrix3f ahrs_rotation_inv;
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// noise levels for simulated sensors
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AP_Float gyro_noise; // in degrees/second
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AP_Vector3f gyro_scale; // percentage
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AP_Float accel_noise; // in m/s/s
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AP_Float accel2_noise; // in m/s/s
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AP_Vector3f accel_bias; // in m/s/s
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AP_Vector3f accel2_bias; // in m/s/s
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AP_Float arspd_noise[2]; // pressure noise
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AP_Float arspd_fail[2]; // airspeed value in m/s to fail to
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AP_Float arspd_fail_pressure[2]; // pitot tube failure pressure in Pa
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@ -213,7 +205,6 @@ public:
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AP_Float batt_voltage; // battery voltage base
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AP_Float batt_capacity_ah; // battery capacity in Ah
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AP_Float accel_fail; // accelerometer failure value
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AP_Int8 rc_fail; // fail RC input
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AP_Int8 rc_chancount; // channel count
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AP_Int8 float_exception; // enable floating point exception checks
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@ -327,10 +318,6 @@ public:
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// minimum throttle for addition of ins noise
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AP_Float ins_noise_throttle_min;
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// gyro and accel fail masks
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AP_Int8 gyro_fail_mask;
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AP_Int8 accel_fail_mask;
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struct {
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AP_Float x;
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AP_Float y;
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@ -456,6 +443,17 @@ public:
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AP_Float imu_temp_tconst;
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AP_Float imu_temp_fixed;
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AP_InertialSensor::TCal imu_tcal[INS_MAX_INSTANCES];
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// IMU control parameters
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AP_Float gyro_noise[INS_MAX_INSTANCES]; // in degrees/second
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AP_Vector3f gyro_scale[INS_MAX_INSTANCES]; // percentage
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AP_Float accel_noise[INS_MAX_INSTANCES]; // in m/s/s
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AP_Vector3f accel_bias[INS_MAX_INSTANCES]; // in m/s/s
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AP_Float accel_fail[INS_MAX_INSTANCES]; // accelerometer failure value
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// gyro and accel fail masks
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AP_Int8 gyro_fail_mask;
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AP_Int8 accel_fail_mask;
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};
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} // namespace SITL
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@ -610,15 +610,6 @@ SERVO9_MAX,1900
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SERVO9_MIN,1100
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SERVO9_REVERSED,0
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SERVO9_TRIM,1500
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SIM_ACC_BIAS_X,0
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SIM_ACC_BIAS_Y,0
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SIM_ACC_BIAS_Z,0
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SIM_ACC_RND,0
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SIM_ACC2_BIAS_X,0
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SIM_ACC2_BIAS_Y,0
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SIM_ACC2_BIAS_Z,0
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SIM_ACC2_RND,0
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SIM_ACCEL_FAIL,0
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SIM_ADSB_ALT,1000
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SIM_ADSB_COUNT,-1
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SIM_ADSB_RADIUS,10000
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@ -666,10 +657,6 @@ SIM_GPS_NUMSATS,10
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SIM_GPS_TYPE,1
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SIM_GPS2_ENABLE,0
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SIM_GPS2_TYPE,1
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SIM_GYR_RND,0
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SIM_GYR_SCALE_X,0
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SIM_GYR_SCALE_Y,0
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SIM_GYR_SCALE_Z,0
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SIM_IMU_POS_X,0
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SIM_IMU_POS_Y,0
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SIM_IMU_POS_Z,0
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@ -630,15 +630,6 @@ SERVO9_MAX,1900
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SERVO9_MIN,1100
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SERVO9_REVERSED,0
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SERVO9_TRIM,1500
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SIM_ACC_BIAS_X,0
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SIM_ACC_BIAS_Y,0
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SIM_ACC_BIAS_Z,0
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SIM_ACC_RND,0
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SIM_ACC2_BIAS_X,0
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SIM_ACC2_BIAS_Y,0
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SIM_ACC2_BIAS_Z,0
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SIM_ACC2_RND,0
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SIM_ACCEL_FAIL,0
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SIM_ADSB_ALT,1000
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SIM_ADSB_COUNT,-1
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SIM_ADSB_RADIUS,10000
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@ -693,10 +684,6 @@ SIM_GRPS_GRAB,2000
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SIM_GRPS_PIN,-1
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SIM_GRPS_RELEASE,1000
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SIM_GRPS_REVERSE,0
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SIM_GYR_RND,0
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SIM_GYR_SCALE_X,0
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SIM_GYR_SCALE_Y,0
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SIM_GYR_SCALE_Z,0
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SIM_IMU_POS_X,0
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SIM_IMU_POS_Y,0
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SIM_IMU_POS_Z,0
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