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SITL: add support for auxiliary IMUs

This commit is contained in:
bugobliterator 2023-03-05 09:09:42 +11:00 committed by Andrew Tridgell
parent 327ec0c355
commit e7533c006b
2 changed files with 84 additions and 4 deletions
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86
libraries/SITL/SITL.cpp
View File

@ -717,14 +717,94 @@ const AP_Param::GroupInfo SIM::var_ins[] = {
AP_GROUPINFO("GYR3_BIAS", 33, SIM, gyro_bias[2], 0),
#endif
#if INS_MAX_INSTANCES > 3
AP_GROUPINFO("ACC4_SCAL", 34, SIM, accel_scale[3], 0),
// @Param: ACCEL4_FAIL
// @DisplayName: ACCEL4 Failure
// @Description: Simulated failure of ACCEL4
// @Values: 0:Disabled, 1:ACCEL4 Failure
// @User: Advanced
AP_GROUPINFO("ACCEL4_FAIL", 35, SIM, accel_fail[3], 0),
AP_GROUPINFO("GYR4_SCALE", 36, SIM, gyro_scale[3], 0),
AP_GROUPINFO("ACC4_RND", 37, SIM, accel_noise[3], 0),
AP_GROUPINFO("GYR4_RND", 38, SIM, gyro_noise[3], 0),
AP_GROUPINFO("ACC4_BIAS", 39, SIM, accel_bias[3], 0),
// @Param: GYR4_BIAS_X
// @CopyFieldsFrom: SIM_GYR1_BIAS_X
// @DisplayName: Fourth Gyro bias on X axis
// @Description: Fourth Gyro bias on X axis
// @Param: GYR4_BIAS_Y
// @CopyFieldsFrom: SIM_GYR1_BIAS_Y
// @DisplayName: Fourth Gyro bias on Y axis
// @Description: Fourth Gyro bias on Y axis
// @Param: GYR4_BIAS_Z
// @CopyFieldsFrom: SIM_GYR1_BIAS_Z
// @DisplayName: Fourth Gyro bias on Z axis
// @Description: Fourth Gyro bias on Z axis
AP_GROUPINFO("GYR4_BIAS", 40, SIM, gyro_bias[3], 0),
#endif
#if INS_MAX_INSTANCES > 4
AP_GROUPINFO("ACC5_SCAL", 41, SIM, accel_scale[4], 0),
// @Param: ACCEL5_FAIL
// @DisplayName: ACCEL5 Failure
// @Description: Simulated failure of ACCEL5
// @Values: 0:Disabled, 1:ACCEL5 Failure
// @User: Advanced
AP_GROUPINFO("ACCEL5_FAIL", 42, SIM, accel_fail[4], 0),
AP_GROUPINFO("GYR5_SCALE", 43, SIM, gyro_scale[4], 0),
AP_GROUPINFO("ACC5_RND", 44, SIM, accel_noise[4], 0),
AP_GROUPINFO("GYR5_RND", 45, SIM, gyro_noise[4], 0),
AP_GROUPINFO("ACC5_BIAS", 46, SIM, accel_bias[4], 0),
// @Param: GYR5_BIAS_X
// @CopyFieldsFrom: SIM_GYR1_BIAS_X
// @DisplayName: Fifth Gyro bias on X axis
// @Description: Fifth Gyro bias on X axis
// @Param: GYR5_BIAS_Y
// @CopyFieldsFrom: SIM_GYR1_BIAS_Y
// @DisplayName: Fifth Gyro bias on Y axis
// @Description: Fifth Gyro bias on Y axis
// @Param: GYR5_BIAS_Z
// @CopyFieldsFrom: SIM_GYR1_BIAS_Z
// @DisplayName: Fifth Gyro bias on Z axis
// @Description: Fifth Gyro bias on Z axis
AP_GROUPINFO("GYR5_BIAS", 47, SIM, gyro_bias[4], 0),
#endif
// the IMUT parameters must be last due to the enable parameters
#if HAL_INS_TEMPERATURE_CAL_ENABLE
AP_SUBGROUPINFO(imu_tcal[0], "IMUT1_", 61, SIM, AP_InertialSensor::TCal),
AP_SUBGROUPINFO(imu_tcal[0], "IMUT1_", 61, SIM, AP_InertialSensor_TCal),
#if INS_MAX_INSTANCES > 1
AP_SUBGROUPINFO(imu_tcal[1], "IMUT2_", 62, SIM, AP_InertialSensor::TCal),
AP_SUBGROUPINFO(imu_tcal[1], "IMUT2_", 62, SIM, AP_InertialSensor_TCal),
#endif
#if INS_MAX_INSTANCES > 2
AP_SUBGROUPINFO(imu_tcal[2], "IMUT3_", 63, SIM, AP_InertialSensor::TCal),
AP_SUBGROUPINFO(imu_tcal[2], "IMUT3_", 63, SIM, AP_InertialSensor_TCal),
#endif
#if INS_MAX_INSTANCES > 3
AP_SUBGROUPINFO(imu_tcal[3], "IMUT4_", 60, SIM, AP_InertialSensor_TCal),
#endif
#if INS_MAX_INSTANCES > 4
AP_SUBGROUPINFO(imu_tcal[4], "IMUT5_", 59, SIM, AP_InertialSensor_TCal),
#endif
#endif // HAL_INS_TEMPERATURE_CAL_ENABLE
AP_GROUPEND

2
libraries/SITL/SITL.h
View File

@ -488,7 +488,7 @@ public:
AP_Float imu_temp_end;
AP_Float imu_temp_tconst;
AP_Float imu_temp_fixed;
AP_InertialSensor::TCal imu_tcal[INS_MAX_INSTANCES];
AP_InertialSensor_TCal imu_tcal[INS_MAX_INSTANCES];
#endif
// IMU control parameters