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SITL: use TCal class for temp adjustment in SITL

This commit is contained in:
Andrew Tridgell 2021-01-08 21:50:48 +11:00 committed by Peter Barker
parent 4bdf506d10
commit c0ba7c29ca
2 changed files with 23 additions and 1 deletions
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14
libraries/SITL/SITL.cpp
View File

@ -76,6 +76,7 @@ const AP_Param::GroupInfo SITL::var_info[] = {
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_SUBGROUPEXTENSION("", 54, SITL, var_ins),
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),
@ -368,8 +369,19 @@ const AP_Param::GroupInfo SITL::var_sfml_joystick[] = {
AP_GROUPINFO("SF_JS_AXIS8", 9, SITL, sfml_joystick_axis[7], sf::Joystick::Axis::PovY),
AP_GROUPEND
};
#endif //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_GROUPEND
};
/* report SITL state via MAVLink SIMSTATE*/
void SITL::simstate_send(mavlink_channel_t chan)

10
libraries/SITL/SITL.h
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@ -9,6 +9,7 @@
#include <AP_Baro/AP_Baro.h>
#include <AP_Common/Location.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include "SIM_Buzzer.h"
#include "SIM_Gripper_EPM.h"
#include "SIM_Gripper_Servo.h"
@ -98,6 +99,7 @@ public:
AP_Param::setup_object_defaults(this, var_info3);
AP_Param::setup_object_defaults(this, var_gps);
AP_Param::setup_object_defaults(this, var_mag);
AP_Param::setup_object_defaults(this, var_ins);
#ifdef SFML_JOYSTICK
AP_Param::setup_object_defaults(this, var_sfml_joystick);
#endif // SFML_JOYSTICK
@ -152,6 +154,7 @@ public:
static const struct AP_Param::GroupInfo var_info3[];
static const struct AP_Param::GroupInfo var_gps[];
static const struct AP_Param::GroupInfo var_mag[];
static const struct AP_Param::GroupInfo var_ins[];
#ifdef SFML_JOYSTICK
static const struct AP_Param::GroupInfo var_sfml_joystick[];
#endif //SFML_JOYSTICK
@ -446,6 +449,13 @@ public:
// get the apparent wind speed and direction as set by external physics backend
float get_apparent_wind_dir(){return state.wind_vane_apparent.direction;}
float get_apparent_wind_spd(){return state.wind_vane_apparent.speed;}
// IMU temperature calibration params
AP_Float imu_temp_start;
AP_Float imu_temp_end;
AP_Float imu_temp_tconst;
AP_Float imu_temp_fixed;
AP_InertialSensor::TCal imu_tcal[INS_MAX_INSTANCES];
};
} // namespace SITL