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SITL: added SIM_SONAR_SCALE parameter

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used for simulating different kinds of rangefinders
This commit is contained in:
Andrew Tridgell 2014-08-10 22:36:38 +10:00
parent 5bf69d4ab3
commit ef98eba722
2 changed files with 2 additions and 0 deletions
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1
libraries/SITL/SITL.cpp
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@ -60,6 +60,7 @@ const AP_Param::GroupInfo SITL::var_info[] PROGMEM = {
AP_GROUPINFO("MAG_MOT", 29, SITL, mag_mot, 0), AP_GROUPINFO("MAG_MOT", 29, SITL, mag_mot, 0),
AP_GROUPINFO("ACC_BIAS", 30, SITL, accel_bias, 0), AP_GROUPINFO("ACC_BIAS", 30, SITL, accel_bias, 0),
AP_GROUPINFO("BARO_GLITCH", 31, SITL, baro_glitch, 0), AP_GROUPINFO("BARO_GLITCH", 31, SITL, baro_glitch, 0),
AP_GROUPINFO("SONAR_SCALE", 32, SITL, sonar_scale, 12.1212f),
AP_GROUPEND AP_GROUPEND
}; };

1
libraries/SITL/SITL.h
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@ -63,6 +63,7 @@ public:
AP_Float sonar_glitch;// probablility between 0-1 that any given sonar sample will read as max distance AP_Float sonar_glitch;// probablility between 0-1 that any given sonar sample will read as max distance
AP_Float sonar_noise; // in metres AP_Float sonar_noise; // in metres
AP_Float sonar_scale; // meters per volt
AP_Float drift_speed; // degrees/second/minute AP_Float drift_speed; // degrees/second/minute
AP_Float drift_time; // period in minutes AP_Float drift_time; // period in minutes