mirror of https://github.com/ArduPilot/ardupilot
SITL: use TCal class for temp adjustment in SITL
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@ -76,6 +76,7 @@ const AP_Param::GroupInfo SITL::var_info[] = {
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AP_GROUPINFO("ADSB_TX", 51, SITL, adsb_tx, 0),
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AP_GROUPINFO("SPEEDUP", 52, SITL, speedup, -1),
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AP_GROUPINFO("IMU_POS", 53, SITL, imu_pos_offset, 0),
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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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@ -368,9 +369,20 @@ const AP_Param::GroupInfo SITL::var_sfml_joystick[] = {
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AP_GROUPINFO("SF_JS_AXIS8", 9, SITL, sfml_joystick_axis[7], sf::Joystick::Axis::PovY),
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AP_GROUPEND
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};
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#endif //SFML_JOYSTICK
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// INS SITL parameters
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const AP_Param::GroupInfo SITL::var_ins[] = {
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AP_GROUPINFO("IMUT_START", 1, SITL, imu_temp_start, 25),
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AP_GROUPINFO("IMUT_END", 2, SITL, imu_temp_end, 45),
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AP_GROUPINFO("IMUT_TCONST", 3, SITL, imu_temp_tconst, 300),
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AP_GROUPINFO("IMUT_FIXED", 4, SITL, imu_temp_fixed, 0),
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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_GROUPEND
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};
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/* report SITL state via MAVLink SIMSTATE*/
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void SITL::simstate_send(mavlink_channel_t chan)
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{
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@ -9,6 +9,7 @@
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#include <AP_Baro/AP_Baro.h>
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#include <AP_Common/Location.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include "SIM_Buzzer.h"
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#include "SIM_Gripper_EPM.h"
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#include "SIM_Gripper_Servo.h"
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@ -98,6 +99,7 @@ public:
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AP_Param::setup_object_defaults(this, var_info3);
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AP_Param::setup_object_defaults(this, var_gps);
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AP_Param::setup_object_defaults(this, var_mag);
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AP_Param::setup_object_defaults(this, var_ins);
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#ifdef SFML_JOYSTICK
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AP_Param::setup_object_defaults(this, var_sfml_joystick);
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#endif // SFML_JOYSTICK
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@ -152,6 +154,7 @@ public:
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static const struct AP_Param::GroupInfo var_info3[];
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static const struct AP_Param::GroupInfo var_gps[];
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static const struct AP_Param::GroupInfo var_mag[];
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static const struct AP_Param::GroupInfo var_ins[];
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#ifdef SFML_JOYSTICK
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static const struct AP_Param::GroupInfo var_sfml_joystick[];
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#endif //SFML_JOYSTICK
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@ -446,6 +449,13 @@ public:
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// get the apparent wind speed and direction as set by external physics backend
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float get_apparent_wind_dir(){return state.wind_vane_apparent.direction;}
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float get_apparent_wind_spd(){return state.wind_vane_apparent.speed;}
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// IMU temperature calibration params
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AP_Float imu_temp_start;
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AP_Float imu_temp_end;
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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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};
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} // namespace SITL
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