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SITL: add parameters for 2nd baro

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This commit is contained in:
Harshit Kumar Sankhla 2020-06-30 12:33:24 +05:30 committed by Andrew Tridgell
parent 27fc7dcf0a
commit 33ac9efe17
2 changed files with 15 additions and 9 deletions
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15
libraries/SITL/SITL.cpp
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@ -35,7 +35,7 @@ SITL *SITL::_singleton = nullptr;
// table of user settable parameters
const AP_Param::GroupInfo SITL::var_info[] = {
AP_GROUPINFO("BARO_RND", 0, SITL, baro_noise, 0.2f),
AP_GROUPINFO("BARO_RND", 0, SITL, baro_noise[0], 0.2f),
AP_GROUPINFO("GYR_RND", 1, SITL, gyro_noise, 0),
AP_GROUPINFO("ACC_RND", 2, SITL, accel_noise, 0),
AP_GROUPINFO("MAG_RND", 3, SITL, mag_noise, 0),
@ -56,16 +56,16 @@ const AP_Param::GroupInfo SITL::var_info[] = {
AP_GROUPINFO("BATT_VOLTAGE", 19, SITL, batt_voltage, 12.6f),
AP_GROUPINFO("ARSPD_RND", 20, SITL, arspd_noise, 0.5f),
AP_GROUPINFO("ACCEL_FAIL", 21, SITL, accel_fail, 0),
AP_GROUPINFO("BARO_DRIFT", 22, SITL, baro_drift, 0),
AP_GROUPINFO("BARO_DRIFT", 22, SITL, baro_drift[0], 0),
AP_GROUPINFO("SONAR_GLITCH", 23, SITL, sonar_glitch, 0),
AP_GROUPINFO("SONAR_RND", 24, SITL, sonar_noise, 0),
AP_GROUPINFO("RC_FAIL", 25, SITL, rc_fail, 0),
AP_GROUPINFO("GPS2_ENABLE", 26, SITL, gps2_enable, 0),
AP_GROUPINFO("BARO_DISABLE", 27, SITL, baro_disable, 0),
AP_GROUPINFO("BARO_DISABLE", 27, SITL, baro_disable[0], 0),
AP_GROUPINFO("FLOAT_EXCEPT", 28, SITL, float_exception, 1),
AP_GROUPINFO("MAG_MOT", 29, SITL, mag_mot, 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], 0),
AP_GROUPINFO("SONAR_SCALE", 32, SITL, sonar_scale, 12.1212f),
AP_GROUPINFO("FLOW_ENABLE", 33, SITL, flow_enable, 0),
AP_GROUPINFO("TERRAIN", 34, SITL, terrain_enable, 1),
@ -276,8 +276,13 @@ const AP_Param::GroupInfo SITL::var_info3[] = {
// @Path: ./SIM_RichenPower.cpp
AP_SUBGROUPINFO(richenpower_sim, "RICH_", 31, SITL, RichenPower),
AP_GROUPEND
// user settable parameters for the 2nd barometer
AP_GROUPINFO("BARO2_RND", 32, SITL, baro_noise[1], 0.1f),
AP_GROUPINFO("BARO2_DRIFT", 33, SITL, baro_drift[1], 0),
AP_GROUPINFO("BARO2_DISABL", 34, SITL, baro_disable[1], 0),
AP_GROUPINFO("BARO2_GLITCH", 35, SITL, baro_glitch[1], 0),
AP_GROUPEND
};
/* report SITL state via MAVLink */

9
libraries/SITL/SITL.h
View File

@ -6,6 +6,7 @@
#include <AP_Math/AP_Math.h>
#include <GCS_MAVLink/GCS_MAVLink.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_Common/Location.h>
#include <AP_Compass/AP_Compass.h>
#include "SIM_Buzzer.h"
@ -132,9 +133,9 @@ public:
Matrix3f ahrs_rotation_inv;
// noise levels for simulated sensors
AP_Float baro_noise; // in metres
AP_Float baro_drift; // in metres per second
AP_Float baro_glitch; // glitch in meters
AP_Float baro_noise[BARO_MAX_INSTANCES]; // in metres
AP_Float baro_drift[BARO_MAX_INSTANCES]; // in metres per second
AP_Float baro_glitch[BARO_MAX_INSTANCES]; // glitch in meters
AP_Float gyro_noise; // in degrees/second
AP_Vector3f gyro_scale; // percentage
AP_Float accel_noise; // in m/s/s
@ -180,7 +181,7 @@ public:
AP_Float accel_fail; // accelerometer failure value
AP_Int8 rc_fail; // fail RC input
AP_Int8 rc_chancount; // channel count
AP_Int8 baro_disable; // disable simulated barometer
AP_Int8 baro_disable[BARO_MAX_INSTANCES]; // disable simulated barometers
AP_Int8 float_exception; // enable floating point exception checks
AP_Int8 flow_enable; // enable simulated optflow
AP_Int16 flow_rate; // optflow data rate (Hz)