From 6954a0035a8c9cddfadb29c7410ad8e900f07919 Mon Sep 17 00:00:00 2001 From: Eugene Shamaev Date: Fri, 9 Mar 2018 10:08:04 +0200 Subject: [PATCH] SITL: SITL of several airspeed sensors --- libraries/SITL/SITL.cpp | 3 +++ libraries/SITL/SITL.h | 9 ++++++--- 2 files changed, 9 insertions(+), 3 deletions(-) diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp index 86fb46d1ec..6dc3aae23e 100644 --- a/libraries/SITL/SITL.cpp +++ b/libraries/SITL/SITL.cpp @@ -109,6 +109,9 @@ const AP_Param::GroupInfo SITL::var_info2[] = { AP_GROUPINFO("GPS_ALT_OFS", 8, SITL, gps_alt_offset, 0), AP_GROUPINFO("ARSPD_SIGN", 9, SITL, arspd_signflip, 0), AP_GROUPINFO("WIND_DIR_Z", 10, SITL, wind_dir_z, 0), + AP_GROUPINFO("ARSPD2_FAIL", 11, SITL, arspd2_fail, 0), + AP_GROUPINFO("ARSPD2_FAILP",12, SITL, arspd2_fail_pressure, 0), + AP_GROUPINFO("ARSPD2_PITOT",13, SITL, arspd2_fail_pitot_pressure, 0), AP_GROUPEND }; diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h index b3b7b2713d..372f722076 100644 --- a/libraries/SITL/SITL.h +++ b/libraries/SITL/SITL.h @@ -81,9 +81,12 @@ public: AP_Vector3f accel_bias; // in m/s/s AP_Vector3f accel2_bias; // in m/s/s AP_Float arspd_noise; // in m/s - AP_Float arspd_fail; // pitot tube failure - AP_Float arspd_fail_pressure; // pitot tube failure pressure - AP_Float arspd_fail_pitot_pressure; // pitot tube failure pressure + AP_Float arspd_fail; // 1st pitot tube failure + AP_Float arspd2_fail; // 2nd pitot tube failure + AP_Float arspd_fail_pressure; // 1st pitot tube failure pressure + AP_Float arspd_fail_pitot_pressure; // 1st pitot tube failure pressure + AP_Float arspd2_fail_pressure; // 2nd pitot tube failure pressure + AP_Float arspd2_fail_pitot_pressure; // 2nd pitot tube failure pressure AP_Float gps_noise; // amplitude of the gps altitude error AP_Int16 gps_lock_time; // delay in seconds before GPS gets lock AP_Int16 gps_alt_offset; // gps alt error