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SITL: document SIM_FLOW_* params

This commit is contained in:
Anthony Luo 2023-09-11 21:57:50 -04:00 committed by Peter Barker
parent a391b14a6d
commit f0d7a367f4
1 changed files with 20 additions and 0 deletions
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20
libraries/SITL/SITL.cpp
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@ -133,9 +133,21 @@ const AP_Param::GroupInfo SIM::var_info[] = {
#endif
AP_GROUPINFO("SONAR_SCALE", 32, SIM, sonar_scale, 12.1212f),
// @Param: FLOW_ENABLE
// @DisplayName: Opflow Enable
// @Description: Enable simulated Optical Flow sensor
// @Values: 0:Disable,1:Enabled
AP_GROUPINFO("FLOW_ENABLE", 33, SIM, flow_enable, 0),
AP_GROUPINFO("TERRAIN", 34, SIM, terrain_enable, 1),
// @Param: FLOW_RATE
// @DisplayName: Opflow Rate
// @Description: Opflow Data Rate
// @Units: Hz
AP_GROUPINFO("FLOW_RATE", 35, SIM, flow_rate, 10),
// @Param: FLOW_DELAY
// @DisplayName: Opflow Delay
// @Description: Opflow data delay
// @Units: ms
AP_GROUPINFO("FLOW_DELAY", 36, SIM, flow_delay, 0),
AP_GROUPINFO("ADSB_COUNT", 45, SIM, adsb_plane_count, -1),
AP_GROUPINFO("ADSB_RADIUS", 46, SIM, adsb_radius_m, 10000),
@ -151,6 +163,11 @@ const AP_Param::GroupInfo SIM::var_info[] = {
AP_GROUPINFO("IMU_POS", 53, SIM, imu_pos_offset, 0),
AP_SUBGROUPEXTENSION("", 54, SIM, var_ins),
AP_GROUPINFO("SONAR_POS", 55, SIM, rngfnd_pos_offset, 0),
// @Param: FLOW_POS
// @DisplayName: Opflow Pos
// @Description: XYZ position of the optical flow sensor focal point relative to the body frame origin
// @Units: m
// @Vector3Parameter: 1
AP_GROUPINFO("FLOW_POS", 56, SIM, optflow_pos_offset, 0),
AP_GROUPINFO("ENGINE_FAIL", 58, SIM, engine_fail, 0),
#if AP_SIM_SHIP_ENABLED
@ -227,6 +244,9 @@ const AP_Param::GroupInfo SIM::var_info2[] = {
AP_GROUPINFO("SHOVE_TIME", 33, SIM, shove.t, 0),
// optical flow sensor measurement noise in rad/sec
// @Param: FLOW_RND
// @DisplayName: Opflow noise
// @Description: Optical Flow sensor measurement noise in rad/sec
AP_GROUPINFO("FLOW_RND", 34, SIM, flow_noise, 0.05f),
AP_GROUPINFO("TWIST_X", 37, SIM, twist.x, 0),