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SITL: add SITL param metadata and fix a few

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Henry Wurzburg 2023-01-10 11:28:44 -06:00 committed by Peter Barker
parent 9cb3bfbe05
commit c79672b96c
1 changed files with 27 additions and 2 deletions
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29
libraries/SITL/SITL.cpp
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@ -58,8 +58,23 @@ const AP_Param::GroupInfo SIM::var_info[] = {
AP_GROUPINFO("DRIFT_SPEED", 5, SIM, drift_speed, 0.05f),
AP_GROUPINFO("DRIFT_TIME", 6, SIM, drift_time, 5),
AP_GROUPINFO("ENGINE_MUL", 8, SIM, engine_mul, 1),
// @Param: WIND_SPD
// @DisplayName: Simulated Wind speed
// @Description: Allows you to emulate wind in sim
// @Units: m/s
// @User: Advanced
AP_GROUPINFO("WIND_SPD", 9, SIM, wind_speed, 0),
// @Param: WIND_DIR
// @DisplayName: Simulated Wind direction
// @Description: Allows you to set wind direction (true deg) in sim
// @Units: deg
// @User: Advanced
AP_GROUPINFO("WIND_DIR", 10, SIM, wind_direction, 180),
// @Param: WIND_TURB
// @DisplayName: Simulated Wind variation
// @Description: Allows you to emulate random wind variations in sim
// @Units: m/s
// @User: Advanced
AP_GROUPINFO("WIND_TURB", 11, SIM, wind_turbulance, 0),
AP_GROUPINFO("SERVO_SPEED", 16, SIM, servo_speed, 0.14),
AP_GROUPINFO("SONAR_ROT", 17, SIM, sonar_rot, Rotation::ROTATION_PITCH_270),
@ -67,6 +82,11 @@ const AP_Param::GroupInfo SIM::var_info[] = {
AP_GROUPINFO("BATT_CAP_AH", 20, SIM, batt_capacity_ah, 0),
AP_GROUPINFO("SONAR_GLITCH", 23, SIM, sonar_glitch, 0),
AP_GROUPINFO("SONAR_RND", 24, SIM, sonar_noise, 0),
// @Param: RC_FAIL
// @DisplayName: Simulated RC signal failure
// @Description: Allows you to emulate rc failures in sim
// @Values: 0:Disabled,1:No RC pusles,2:Binding pulses
// @User: Advanced
AP_GROUPINFO("RC_FAIL", 25, SIM, rc_fail, 0),
AP_GROUPINFO("FLOAT_EXCEPT", 28, SIM, float_exception, 1),
AP_GROUPINFO("SONAR_SCALE", 32, SIM, sonar_scale, 12.1212f),
@ -106,6 +126,11 @@ const AP_Param::GroupInfo SIM::var_info2[] = {
AP_GROUPINFO("WIND_DIR_Z", 10, SIM, wind_dir_z, 0),
AP_GROUPINFO("WIND_T" ,15, SIM, wind_type, SIM::WIND_TYPE_SQRT),
// @Param: WIND_T_ALT
// @DisplayName: Full Wind Altitude
// @Description: Altitude at which wind reaches full strength, rising from 0 at ground level
// @Units: m
// @User: Advanced
AP_GROUPINFO("WIND_T_ALT" ,16, SIM, wind_type_alt, 60),
AP_GROUPINFO("WIND_T_COEF", 17, SIM, wind_type_coef, 0.01f),
AP_GROUPINFO("RC_CHANCOUNT",21, SIM, rc_chancount, 16),
@ -511,7 +536,7 @@ const AP_Param::GroupInfo SIM::var_ins[] = {
#endif
AP_GROUPINFO("ACC_TRIM", 25, SIM, accel_trim, 0),
// @Param: SAIL_TYPE
// @Param{Rover}: SAIL_TYPE
// @DisplayName: Sailboat simulation sail type
// @Description: 0: mainsail with sheet, 1: directly actuated wing
AP_GROUPINFO("SAIL_TYPE", 26, SIM, sail_type, 0),
@ -523,7 +548,7 @@ const AP_Param::GroupInfo SIM::var_ins[] = {
// @Param: OH_MASK
// @DisplayName: SIM-on_hardware Output Enable Mask
// @Description: channels which are passed through to actual hardware when running on actual hardware
// @Description: channels which are passed through to actual hardware when running sim on actual hardware
AP_GROUPINFO("OH_MASK", 28, SIM, on_hardware_output_enable_mask, 0),
#if AP_SIM_INS_FILE_ENABLED
// read and write IMU data to/from files