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SITL: added SIM_MAG_SAVE_IDS 

this controls whether SITL saves device IDs for compasses on startup
so the compasses always appear calibrated
This commit is contained in:
Andrew Tridgell 2023-09-21 08:57:39 +10:00
parent 24bed08c4e
commit f7a1227c25
2 changed files with 9 additions and 0 deletions
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8
libraries/SITL/SITL.cpp
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@ -744,6 +744,14 @@ const AP_Param::GroupInfo SIM::var_mag[] = {
AP_GROUPINFO("MAG3_SCALING", 30, SIM, mag_scaling[2], 1),
AP_GROUPINFO("MAG3_ORIENT", 36, SIM, mag_orient[2], 0),
#endif
// @Param: MAG_SAVE_IDS
// @DisplayName: Save MAG devids on startup
// @Description: This forces saving of compass devids on startup so that simulated compasses start as calibrated
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
AP_GROUPINFO("MAG_SAVE_IDS", 37, SIM, mag_save_ids, 1),
AP_GROUPEND
};

1
libraries/SITL/SITL.h
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@ -178,6 +178,7 @@ public:
AP_Vector3f mag_offdiag[HAL_COMPASS_MAX_SENSORS]; // off-diagonal corrections
AP_Int8 mag_orient[HAL_COMPASS_MAX_SENSORS]; // external compass orientation
AP_Int8 mag_fail[HAL_COMPASS_MAX_SENSORS]; // fail magnetometer, 1 for no data, 2 for freeze
AP_Int8 mag_save_ids;
AP_Float servo_speed; // servo speed in seconds
AP_Float sonar_glitch;// probability between 0-1 that any given sonar sample will read as max distance