autotest: added blimp simulator type

Tools/autotest/default_params/blimp.parm

@@ -0,0 +1,87 @@
+EK2_ENABLE      1
+FRAME_TYPE	0
+FS_THR_ENABLE   1
+BATT_MONITOR    4
+COMPASS_OFS_X   5
+COMPASS_OFS_Y   13
+COMPASS_OFS_Z   -18
+COMPASS_OFS2_X   5
+COMPASS_OFS2_Y   13
+COMPASS_OFS2_Z   -18
+COMPASS_OFS3_X   5
+COMPASS_OFS3_Y   13
+COMPASS_OFS3_Z   -18
+FRAME_CLASS     1
+RC1_MAX         2000.000000
+RC1_MIN         1000.000000
+RC1_TRIM        1500.000000
+RC2_MAX         2000.000000
+RC2_MIN         1000.000000
+RC2_TRIM        1500.000000
+RC3_MAX         2000.000000
+RC3_MIN         1000.000000
+RC3_TRIM        1500.000000
+RC4_MAX         2000.000000
+RC4_MIN         1000.000000
+RC4_TRIM        1500.000000
+RC5_MAX         2000.000000
+RC5_MIN         1000.000000
+RC5_TRIM        1500.000000
+RC6_MAX         2000.000000
+RC6_MIN         1000.000000
+RC6_TRIM        1500.000000
+RC7_MAX         2000.000000
+RC7_MIN         1000.000000
+RC7_TRIM        1500.000000
+RC8_MAX         2000.000000
+RC8_MIN         1000.000000
+RC8_TRIM        1500.000000
+# setting servo functions for the four fins
+SERVO1_FUNCTION 33
+SERVO1_FUNCTION 34
+SERVO1_FUNCTION 35
+SERVO1_FUNCTION 36
+
+FLTMODE1        7
+FLTMODE2        9
+FLTMODE3        6
+FLTMODE4        3
+FLTMODE5        5
+FLTMODE6		0
+SIM_BARO_RND    0
+# we need small INS_ACC offsets so INS is recognised as being calibrated
+INS_ACCOFFS_X   0.001
+INS_ACCOFFS_Y   0.001
+INS_ACCOFFS_Z   0.001
+INS_ACCSCAL_X   1.001
+INS_ACCSCAL_Y   1.001
+INS_ACCSCAL_Z   1.001
+INS_ACC2OFFS_X   0.001
+INS_ACC2OFFS_Y   0.001
+INS_ACC2OFFS_Z   0.001
+INS_ACC2SCAL_X   1.001
+INS_ACC2SCAL_Y   1.001
+INS_ACC2SCAL_Z   1.001
+INS_ACC3OFFS_X   0.000
+INS_ACC3OFFS_Y   0.000
+INS_ACC3OFFS_Z   0.000
+INS_ACC3SCAL_X   1.000
+INS_ACC3SCAL_Y   1.000
+INS_ACC3SCAL_Z   1.000
+# flightmodes
+# switch 1 Circle
+# switch 2 LAND
+# switch 3 RTL
+# switch 4 Auto
+# switch 5 Loiter
+# switch 6 Stab
+# STABILIZE 	0 !
+# ACRO 			1
+# ALT_HOLD 		2
+# AUTO 			3 !
+# GUIDED 		4
+# LOITER 		5 !
+# RTL 			6 !
+# CIRCLE 		7 !
+# POSITION 		8
+# LAND 			9 !

Tools/autotest/pysim/vehicleinfo.py

@@ -154,6 +154,17 @@ class VehicleInfo(object):
             },
         },
     },
+    "Blimp": {
+        "default_frame": "quad",
+        "frames": {
+            # BLIMP
+            "quad": {
+                "model": "+",
+                "waf_target": "bin/blimp",
+                "default_params_filename": "default_params/blimp.parm",
+            },
+        },
+    },
     "ArduPlane": {
         "default_frame": "plane",
         "frames": {