mirror of https://github.com/ArduPilot/ardupilot
SITL:add SIM param metadata
This commit is contained in:
Henry Wurzburg
Peter Barker
parent
a2b0bbffdb
commit
e96a55c1b6
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@ -85,7 +85,7 @@ const AP_Param::GroupInfo SIM::var_info[] = {
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// @Param: RC_FAIL
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// @DisplayName: Simulated RC signal failure
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// @Description: Allows you to emulate rc failures in sim
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// @Values: 0:Disabled,1:No RC pusles,2:Binding pulses
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// @Values: 0:Disabled,1:No RC pusles,2:All Channels neutral except Throttle is 950us
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// @User: Advanced
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AP_GROUPINFO("RC_FAIL", 25, SIM, rc_fail, 0),
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AP_GROUPINFO("FLOAT_EXCEPT", 28, SIM, float_exception, 1),
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@ -99,6 +99,11 @@ const AP_Param::GroupInfo SIM::var_info[] = {
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AP_GROUPINFO("ADSB_ALT", 47, SIM, adsb_altitude_m, 1000),
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AP_GROUPINFO("PIN_MASK", 50, SIM, pin_mask, 0),
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AP_GROUPINFO("ADSB_TX", 51, SIM, adsb_tx, 0),
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// @Param: SPEEDUP
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// @DisplayName: Sim Speedup
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// @Description: Runs the simulation at multiples of normal speed. Do not use if realtime physics, like RealFlight, is being used
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// @Range: 1 10
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// @User: Advanced
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AP_GROUPINFO("SPEEDUP", 52, SIM, speedup, -1),
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AP_GROUPINFO("IMU_POS", 53, SIM, imu_pos_offset, 0),
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AP_SUBGROUPEXTENSION("", 54, SIM, var_ins),
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@ -125,13 +130,22 @@ const AP_Param::GroupInfo SIM::var_info2[] = {
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AP_GROUPINFO("TEMP_BFACTOR", 4, SIM, temp_baro_factor, 0),
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AP_GROUPINFO("WIND_DIR_Z", 10, SIM, wind_dir_z, 0),
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// @Param: WIND_T_
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// @DisplayName: Wind Profile Type
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// @Description: Selects how wind varies from surface to WIND_T_ALT
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// @Values: 0:square law,1: none, 2:linear-see WIND_T_COEF
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// @User: Advanced
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AP_GROUPINFO("WIND_T" ,15, SIM, wind_type, SIM::WIND_TYPE_SQRT),
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// @Param: WIND_T_ALT
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// @DisplayName: Full Wind Altitude
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// @Description: Altitude at which wind reaches full strength, rising from 0 at ground level
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// @Description: Altitude at which wind reaches full strength, decaying from full strength as altitude lowers to ground level
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// @Units: m
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// @User: Advanced
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AP_GROUPINFO("WIND_T_ALT" ,16, SIM, wind_type_alt, 60),
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// @Param: WIND_T_COEF
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// @DisplayName: Linear Wind Curve Coeff
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// @Description: For linear wind profile,wind is reduced by (Altitude-WIND_T_ALT) x this value
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// @User: Advanced
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AP_GROUPINFO("WIND_T_COEF", 17, SIM, wind_type_coef, 0.01f),
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AP_GROUPINFO("RC_CHANCOUNT",21, SIM, rc_chancount, 16),
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// @Group: SPR_
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@ -369,6 +383,11 @@ const AP_Param::GroupInfo SIM::AirspeedParm::var_info[] = {
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// user settable parameters for the 1st airspeed sensor
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AP_GROUPINFO("RND", 1, SIM::AirspeedParm, noise, 2.0),
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AP_GROUPINFO("OFS", 2, SIM::AirspeedParm, offset, 2013),
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// @Param: ARSPD_FAIL
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// @DisplayName: Airspeed sensor failure
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// @Description: Simulates Airspeed sensor 1 failure
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// @Values: 0:Disabled, 1:Enabled
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// @User: Advanced
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AP_GROUPINFO("FAIL", 3, SIM::AirspeedParm, fail, 0),
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AP_GROUPINFO("FAILP", 4, SIM::AirspeedParm, fail_pressure, 0),
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AP_GROUPINFO("PITOT", 5, SIM::AirspeedParm, fail_pitot_pressure, 0),
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@ -380,6 +399,11 @@ const AP_Param::GroupInfo SIM::AirspeedParm::var_info[] = {
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#if HAL_SIM_GPS_ENABLED
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// GPS SITL parameters
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const AP_Param::GroupInfo SIM::var_gps[] = {
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// @Param: GPS_DISABLE
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// @DisplayName: GPS 1 disable
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// @Description: Disables GPS 1
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// @Values: 0:Enable, 1:GPS Disabled
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// @User: Advanced
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AP_GROUPINFO("GPS_DISABLE", 1, SIM, gps_disable[0], 0),
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AP_GROUPINFO("GPS_LAG_MS", 2, SIM, gps_delay_ms[0], 100),
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AP_GROUPINFO("GPS_TYPE", 3, SIM, gps_type[0], GPS::Type::UBLOX),
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@ -395,7 +419,11 @@ const AP_Param::GroupInfo SIM::var_gps[] = {
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AP_GROUPINFO("GPS_HDG", 13, SIM, gps_hdg_enabled[0], SIM::GPS_HEADING_NONE),
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AP_GROUPINFO("GPS_ACC", 14, SIM, gps_accuracy[0], 0.3),
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AP_GROUPINFO("GPS_VERR", 15, SIM, gps_vel_err[0], 0),
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// @Param: GPS2_DISABLE
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// @DisplayName: GPS 2 disable
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// @Description: Disables GPS 2
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// @Values: 0:Enable, 1:GPS Disabled
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// @User: Advanced
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AP_GROUPINFO("GPS2_DISABLE", 30, SIM, gps_disable[1], 1),
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AP_GROUPINFO("GPS2_LAG_MS", 31, SIM, gps_delay_ms[1], 100),
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AP_GROUPINFO("GPS2_TYPE", 32, SIM, gps_type[1], GPS::Type::UBLOX),
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@ -454,12 +482,22 @@ const AP_Param::GroupInfo SIM::var_mag[] = {
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#if MAX_CONNECTED_MAGS > 7
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AP_GROUPINFO("MAG8_DEVID", 18, SIM, mag_devid[7], 0),
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#endif
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// @Param: MAG1_FAIL
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// @DisplayName: MAG1 Failure
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// @Description: Simulated failure of MAG1
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// @Values: 0:Disabled, 1:MAG1 Failure
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// @User: Advanced
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AP_GROUPINFO("MAG1_FAIL", 26, SIM, mag_fail[0], 0),
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#if HAL_COMPASS_MAX_SENSORS > 1
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AP_GROUPINFO("MAG2_OFS", 19, SIM, mag_ofs[1], 0),
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AP_GROUPINFO("MAG2_DIA", 20, SIM, mag_diag[1], 0),
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AP_GROUPINFO("MAG2_ODI", 21, SIM, mag_offdiag[1], 0),
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AP_GROUPINFO("MAG2_ORIENT", 22, SIM, mag_orient[1], 0),
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// @Param: MAG2_FAIL
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// @DisplayName: MAG2 Failure
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// @Description: Simulated failure of MAG2
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// @Values: 0:Disabled, 1:MAG2 Failure
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// @User: Advanced
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AP_GROUPINFO("MAG2_FAIL", 27, SIM, mag_fail[1], 0),
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AP_GROUPINFO("MAG2_SCALING", 28, SIM, mag_scaling[1], 1),
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#endif
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@ -467,6 +505,11 @@ const AP_Param::GroupInfo SIM::var_mag[] = {
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AP_GROUPINFO("MAG3_OFS", 23, SIM, mag_ofs[2], 0),
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AP_GROUPINFO("MAG3_DIA", 24, SIM, mag_diag[2], 0),
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AP_GROUPINFO("MAG3_ODI", 25, SIM, mag_offdiag[2], 0),
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// @Param: MAG3_FAIL
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// @DisplayName: MAG3 Failure
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// @Description: Simulated failure of MAG3
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// @Values: 0:Disabled, 1:MAG3 Failure
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// @User: Advanced
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AP_GROUPINFO("MAG3_FAIL", 29, SIM, mag_fail[2], 0),
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AP_GROUPINFO("MAG3_SCALING", 30, SIM, mag_scaling[2], 1),
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AP_GROUPINFO("MAG3_ORIENT", 36, SIM, mag_orient[2], 0),
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@ -525,14 +568,39 @@ const AP_Param::GroupInfo SIM::var_ins[] = {
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#if INS_MAX_INSTANCES > 2
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AP_GROUPINFO("GYR3_SCALE", 16, SIM, gyro_scale[2], 0),
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#endif
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// @Param: ACCEL1_FAIL
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// @DisplayName: ACCEL1 Failure
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// @Description: Simulated failure of ACCEL1
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// @Values: 0:Disabled, 1:ACCEL1 Failure
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// @User: Advanced
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AP_GROUPINFO("ACCEL1_FAIL", 17, SIM, accel_fail[0], 0),
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#if INS_MAX_INSTANCES > 1
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// @Param: ACCEL2_FAIL
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// @DisplayName: ACCEL2 Failure
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// @Description: Simulated failure of ACCEL2
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// @Values: 0:Disabled, 1:ACCEL2 Failure
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// @User: Advanced
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AP_GROUPINFO("ACCEL2_FAIL", 18, SIM, accel_fail[1], 0),
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#endif
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#if INS_MAX_INSTANCES > 2
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// @Param: ACCEL3_FAIL
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// @DisplayName: ACCEL3 Failure
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// @Description: Simulated failure of ACCEL3
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// @Values: 0:Disabled, 1:ACCEL3 Failure
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// @User: Advanced
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AP_GROUPINFO("ACCEL3_FAIL", 19, SIM, accel_fail[2], 0),
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#endif
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// @Param: GYRO_FAIL_MSK
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// @DisplayName: Gyro Failure Mask
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// @Description: Determines if the gyro reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params
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// @Values: 0:Disabled, 1:Readings stopped
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// @User: Advanced
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AP_GROUPINFO("GYR_FAIL_MSK", 20, SIM, gyro_fail_mask, 0),
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// @Param: ACC_FAIL_MSK
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// @DisplayName: Accelerometer Failure Mask
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// @Description: Determines if the acclerometer reading updates are stopped when for an IMU simulated failure by ACCELx_FAIL params
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// @Values: 0:Disabled, 1:Readings stopped
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// @User: Advanced
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AP_GROUPINFO("ACC_FAIL_MSK", 21, SIM, accel_fail_mask, 0),
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AP_GROUPINFO("ACC1_SCAL", 22, SIM, accel_scale[0], 0),
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#if INS_MAX_INSTANCES > 1
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