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SITL: add SIM_VIB_MOT_MULT to allow motor noise to have a different amplitude to the fixed frequency noise

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This commit is contained in:
Andy Piper 2020-01-28 22:25:49 +00:00 committed by Andrew Tridgell
parent c0c61660b0
commit 2033cf3b4a
2 changed files with 4 additions and 0 deletions
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2
libraries/SITL/SITL.cpp
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@ -208,6 +208,8 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
AP_GROUPINFO("VIB_MOT_MAX", 61, SITL, vibe_motor, 0.0f),
// minimum throttle for simulated ins noise
AP_GROUPINFO("INS_THR_MIN", 62, SITL, ins_noise_throttle_min, 0.1f),
// amplitude scaling of motor noise relative to gyro/accel noise
AP_GROUPINFO("VIB_MOT_MULT", 63, SITL, vibe_motor_scale, 1.0f),
AP_GROUPEND

2
libraries/SITL/SITL.h
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@ -251,6 +251,8 @@ public:
// max frequency to use as baseline for adding motor noise for the gyros and accels
AP_Float vibe_motor;
// amplitude scaling of motor noise relative to gyro/accel noise
AP_Float vibe_motor_scale;
// minimum throttle for addition of ins noise
AP_Float ins_noise_throttle_min;