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SITL: SITL of several airspeed sensors

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This commit is contained in:
Eugene Shamaev 2018-03-09 10:08:04 +02:00 committed by Tom Pittenger
parent 40e2d0d0c9
commit 6954a0035a
2 changed files with 9 additions and 3 deletions
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3
libraries/SITL/SITL.cpp
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@ -109,6 +109,9 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
AP_GROUPINFO("GPS_ALT_OFS", 8, SITL, gps_alt_offset, 0), AP_GROUPINFO("GPS_ALT_OFS", 8, SITL, gps_alt_offset, 0),
AP_GROUPINFO("ARSPD_SIGN", 9, SITL, arspd_signflip, 0), AP_GROUPINFO("ARSPD_SIGN", 9, SITL, arspd_signflip, 0),
AP_GROUPINFO("WIND_DIR_Z", 10, SITL, wind_dir_z, 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 AP_GROUPEND
}; };

9
libraries/SITL/SITL.h
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@ -81,9 +81,12 @@ public:
AP_Vector3f accel_bias; // in m/s/s AP_Vector3f accel_bias; // in m/s/s
AP_Vector3f accel2_bias; // in m/s/s AP_Vector3f accel2_bias; // in m/s/s
AP_Float arspd_noise; // in m/s AP_Float arspd_noise; // in m/s
AP_Float arspd_fail; // pitot tube failure AP_Float arspd_fail; // 1st pitot tube failure
AP_Float arspd_fail_pressure; // pitot tube failure pressure AP_Float arspd2_fail; // 2nd pitot tube failure
AP_Float arspd_fail_pitot_pressure; // pitot tube failure pressure 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_Float gps_noise; // amplitude of the gps altitude error
AP_Int16 gps_lock_time; // delay in seconds before GPS gets lock AP_Int16 gps_lock_time; // delay in seconds before GPS gets lock
AP_Int16 gps_alt_offset; // gps alt error AP_Int16 gps_alt_offset; // gps alt error