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SITL: add wind type parameters

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This commit is contained in:
Eugene Shamaev 2018-04-30 08:25:19 -07:00 committed by Tom Pittenger
parent 9e76555152
commit d086edc762
2 changed files with 12 additions and 0 deletions
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3
libraries/SITL/SITL.cpp
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@ -113,6 +113,9 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
AP_GROUPINFO("ARSPD2_FAILP",12, SITL, arspd2_fail_pressure, 0), AP_GROUPINFO("ARSPD2_FAILP",12, SITL, arspd2_fail_pressure, 0),
AP_GROUPINFO("ARSPD2_PITOT",13, SITL, arspd2_fail_pitot_pressure, 0), AP_GROUPINFO("ARSPD2_PITOT",13, SITL, arspd2_fail_pitot_pressure, 0),
AP_GROUPINFO("VICON_HSTLEN",14, SITL, vicon_observation_history_length, 0), AP_GROUPINFO("VICON_HSTLEN",14, SITL, vicon_observation_history_length, 0),
AP_GROUPINFO("WIND_T" ,15, SITL, wind_type, SITL::WIND_TYPE_SQRT),
AP_GROUPINFO("WIND_T_ALT" ,16, SITL, wind_type_alt, 60),
AP_GROUPINFO("WIND_T_COEF", 17, SITL, wind_type_coef, 0.01f),
AP_GROUPEND AP_GROUPEND
}; };

9
libraries/SITL/SITL.h
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@ -130,6 +130,12 @@ public:
AP_Int8 odom_enable; // enable visual odomotry data AP_Int8 odom_enable; // enable visual odomotry data
// wind control // wind control
enum WindType {
WIND_TYPE_SQRT = 0,
WIND_TYPE_NO_LIMIT = 1,
WIND_TYPE_COEF = 2,
};
float wind_speed_active; float wind_speed_active;
float wind_direction_active; float wind_direction_active;
float wind_dir_z_active; float wind_dir_z_active;
@ -138,6 +144,9 @@ public:
AP_Float wind_turbulance; AP_Float wind_turbulance;
AP_Float gps_drift_alt; AP_Float gps_drift_alt;
AP_Float wind_dir_z; AP_Float wind_dir_z;
AP_Int8 wind_type; // enum WindLimitType
AP_Float wind_type_alt;
AP_Float wind_type_coef;
AP_Int16 baro_delay; // barometer data delay in ms AP_Int16 baro_delay; // barometer data delay in ms
AP_Int16 mag_delay; // magnetometer data delay in ms AP_Int16 mag_delay; // magnetometer data delay in ms