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SITL: added SIM_MAGn_FAIL parameters

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This commit is contained in:
Andrew Tridgell 2020-08-28 12:26:42 +10:00
parent 5c2b478feb
commit bf9c76a5c3
2 changed files with 9 additions and 3 deletions
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9
libraries/SITL/SITL.cpp
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@ -303,7 +303,7 @@ const AP_Param::GroupInfo SITL::var_mag[] = {
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_SCALING", 10, SITL, mag_scaling[0], 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),
@ -311,17 +311,22 @@ const AP_Param::GroupInfo SITL::var_mag[] = {
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),
AP_GROUPINFO("MAG8_DEVID", 18, SITL, mag_devid[7], 0),
AP_GROUPINFO("MAG1_FAIL", 26, SITL, mag_fail[0], 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),
AP_GROUPINFO("MAG2_FAIL", 27, SITL, mag_fail[1], 0),
AP_GROUPINFO("MAG2_SCALING", 28, SITL, mag_scaling[1], 1),
#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_FAIL", 29, SITL, mag_fail[2], 0),
AP_GROUPINFO("MAG3_SCALING", 30, SITL, mag_scaling[2], 1),
AP_GROUPINFO("MAG3_ORIENT", 36, SITL, mag_orient[2], 0),
#endif
AP_GROUPEND

3
libraries/SITL/SITL.h
View File

@ -165,6 +165,7 @@ public:
AP_Vector3f mag_diag[HAL_COMPASS_MAX_SENSORS]; // diagonal corrections
AP_Vector3f mag_offdiag[HAL_COMPASS_MAX_SENSORS]; // off-diagonal corrections
AP_Int8 mag_orient[HAL_COMPASS_MAX_SENSORS]; // external compass orientation
AP_Int8 mag_fail[HAL_COMPASS_MAX_SENSORS]; // fail magnetometer, 1 for no data, 2 for freeze
AP_Float servo_speed; // servo speed in seconds
AP_Float sonar_glitch;// probablility between 0-1 that any given sonar sample will read as max distance
@ -210,7 +211,7 @@ public:
AP_Int8 baro_count; // number of simulated baros to create
AP_Int8 imu_count; // number of simulated IMUs to create
AP_Int32 loop_delay; // extra delay to add to every loop
AP_Float mag_scaling; // scaling factor on first compasses
AP_Float mag_scaling[MAX_CONNECTED_MAGS]; // scaling factor
AP_Int32 mag_devid[MAX_CONNECTED_MAGS]; // Mag devid
AP_Float buoyancy; // submarine buoyancy in Newtons
AP_Int16 loop_rate_hz;