From 67404e96605a67f2173de22fa8541ecfa9e6ca6a Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 1 May 2017 10:09:34 +1000 Subject: [PATCH] SITL: added SIM_ODOM_ENABLE for enabling visual odomotry simulated data --- libraries/SITL/SITL.cpp | 1 + libraries/SITL/SITL.h | 3 ++- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp index 0f727d5cf2..dca80f59f2 100644 --- a/libraries/SITL/SITL.cpp +++ b/libraries/SITL/SITL.cpp @@ -92,6 +92,7 @@ const AP_Param::GroupInfo SITL::var_info[] = { AP_GROUPINFO("GP2_GLITCH", 59, SITL, gps2_glitch, 0), AP_GROUPINFO("ENGINE_FAIL", 60, SITL, engine_fail, 0), AP_GROUPINFO("GPS2_TYPE", 61, SITL, gps2_type, SITL::GPS_TYPE_UBLOX), + AP_GROUPINFO("ODOM_ENABLE", 62, SITL, odom_enable, 0), AP_GROUPEND }; diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h index 43275fa1dd..77131136cc 100644 --- a/libraries/SITL/SITL.h +++ b/libraries/SITL/SITL.h @@ -115,7 +115,8 @@ public: AP_Int8 terrain_enable; // enable using terrain for height AP_Int8 pin_mask; // for GPIO emulation AP_Float speedup; // simulation speedup - + AP_Int8 odom_enable; // enable visual odomotry data + // wind control float wind_speed_active; float wind_direction_active;