aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

SITL: added SIM_GPS_ACC parameters

Browse Source
This commit is contained in:
Andrew Tridgell 2020-08-20 20:41:27 +10:00
parent 36442dc9b0
commit 91b4830801
2 changed files with 3 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/SITL/SITL.cpp
View File

@ -251,6 +251,7 @@ const AP_Param::GroupInfo SITL::var_gps[] = {
AP_GROUPINFO("GPS_LOCKTIME", 11, SITL, gps_lock_time[0], 0),
AP_GROUPINFO("GPS_ALT_OFS", 12, SITL, gps_alt_offset[0], 0),
AP_GROUPINFO("GPS_HDG", 13, SITL, gps_hdg_enabled[0], 0),
AP_GROUPINFO("GPS_ACC", 14, SITL, gps_accuracy[0], 0.3),
AP_GROUPINFO("GPS2_DISABLE", 30, SITL, gps_disable[1], 1),
AP_GROUPINFO("GPS2_DELAY", 31, SITL, gps_delay[1], 1),
@ -265,6 +266,7 @@ const AP_Param::GroupInfo SITL::var_gps[] = {
AP_GROUPINFO("GPS2_LCKTIME", 40, SITL, gps_lock_time[1], 0),
AP_GROUPINFO("GPS2_ALT_OFS", 41, SITL, gps_alt_offset[1], 0),
AP_GROUPINFO("GPS2_HDG", 42, SITL, gps_hdg_enabled[1], 0),
AP_GROUPINFO("GPS2_ACC", 43, SITL, gps_accuracy[1], 0.3),
AP_GROUPEND
};

1
libraries/SITL/SITL.h
View File

@ -189,6 +189,7 @@ public:
AP_Int8 gps_hdg_enabled[2]; // enable the output of a NMEA heading HDT sentence or UBLOX RELPOSNED
AP_Float gps_drift_alt[2];
AP_Vector3f gps_pos_offset[2]; // XYZ position of the GPS antenna phase centre relative to the body frame origin (m)
AP_Float gps_accuracy[2];
AP_Float batt_voltage; // battery voltage base
AP_Float accel_fail; // accelerometer failure value