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HAL_SITL: added airspeed noise control

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This commit is contained in:
Andrew Tridgell 2013-10-14 15:40:45 +11:00
parent 5adf4e1706
commit ede927f68a
3 changed files with 3 additions and 2 deletions
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2
libraries/AP_HAL_AVR_SITL/sitl_ins.cpp
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@ -122,7 +122,7 @@ void SITL_State::_update_ins(float roll, float pitch, float yaw, // Relative
_ins->set_gyro(Vector3f(p, q, r) + _ins->get_gyro_offsets());
_ins->set_accel(Vector3f(xAccel, yAccel, zAccel) + _ins->get_accel_offsets());
airspeed_pin_value = _airspeed_sensor(airspeed);
airspeed_pin_value = _airspeed_sensor(airspeed + (_sitl->aspd_noise * _rand_float()));
}
#endif

1
libraries/SITL/SITL.cpp
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@ -45,6 +45,7 @@ const AP_Param::GroupInfo SITL::var_info[] PROGMEM = {
AP_GROUPINFO("GPS_GLITCH", 17, SITL, gps_glitch, 0),
AP_GROUPINFO("GPS_HZ", 18, SITL, gps_hertz, 5),
AP_GROUPINFO("BATT_VOLTAGE", 19, SITL, batt_voltage, 12.6),
AP_GROUPINFO("ASPD_RND", 20, SITL, aspd_noise, 0.5),
AP_GROUPEND
};

2
libraries/SITL/SITL.h
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@ -49,8 +49,8 @@ public:
AP_Float baro_noise; // in Pascals
AP_Float gyro_noise; // in degrees/second
AP_Float accel_noise; // in m/s/s
AP_Float mag_noise; // in mag units (earth field is 818)
AP_Float aspd_noise; // in m/s
AP_Float mag_noise; // in mag units (earth field is 818)
AP_Float mag_error; // in degrees
AP_Float servo_rate; // servo speed in degrees/second