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SITL: added temperature control parameters

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This commit is contained in:
Andrew Tridgell 2017-04-12 16:28:04 +10:00
parent 7e24be95c9
commit c1b6684b9f
2 changed files with 16 additions and 0 deletions
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9
libraries/SITL/SITL.cpp
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@ -93,9 +93,18 @@ const AP_Param::GroupInfo SITL::var_info[] = {
AP_GROUPINFO("ENGINE_FAIL", 60, SITL, engine_fail, 0),
AP_GROUPINFO("GPS2_TYPE", 61, SITL, gps2_type, SITL::GPS_TYPE_UBLOX),
AP_GROUPINFO("ODOM_ENABLE", 62, SITL, odom_enable, 0),
AP_SUBGROUPEXTENSION("", 63, SITL, var_info2),
AP_GROUPEND
};
// second table of user settable parameters for SITL.
const AP_Param::GroupInfo SITL::var_info2[] = {
AP_GROUPINFO("TEMP_START", 1, SITL, temp_start, 25),
AP_GROUPINFO("TEMP_FLIGHT", 2, SITL, temp_flight, 35),
AP_GROUPINFO("TEMP_TCONST", 3, SITL, temp_tconst, 30),
AP_GROUPEND
};
/* report SITL state via MAVLink */
void SITL::simstate_send(mavlink_channel_t chan)

7
libraries/SITL/SITL.h
View File

@ -38,6 +38,7 @@ public:
// set a default compass offset
mag_ofs.set(Vector3f(5, 13, -18));
AP_Param::setup_object_defaults(this, var_info);
AP_Param::setup_object_defaults(this, var_info2);
}
enum GPSType {
@ -65,6 +66,7 @@ public:
float height_agl;
static const struct AP_Param::GroupInfo var_info[];
static const struct AP_Param::GroupInfo var_info2[];
// noise levels for simulated sensors
AP_Float baro_noise; // in metres
@ -145,6 +147,11 @@ public:
AP_Vector3f rngfnd_pos_offset; // XYZ position of the range finder zero range datum relative to the body frame origin (m)
AP_Vector3f optflow_pos_offset; // XYZ position of the optical flow sensor focal point relative to the body frame origin (m)
// temperature control
AP_Float temp_start;
AP_Float temp_flight;
AP_Float temp_tconst;
uint16_t irlock_port;
void simstate_send(mavlink_channel_t chan);