From a6a020b3c75598c72b56159e4757126caaca2e93 Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Tue, 24 Dec 2019 21:18:30 +0000
Subject: [PATCH] SITL: record throttle value instead of motors on/off

---
 libraries/SITL/SITL.cpp | 2 ++
 libraries/SITL/SITL.h   | 8 +++++---
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/libraries/SITL/SITL.cpp b/libraries/SITL/SITL.cpp
index 08c989de06..d2fa2547d0 100644
--- a/libraries/SITL/SITL.cpp
+++ b/libraries/SITL/SITL.cpp
@@ -206,6 +206,8 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
 
     // max motor vibration frequency
     AP_GROUPINFO("VIB_MOT_MAX", 61, SITL,  vibe_motor, 0.0f),
+    // minimum throttle for simulated ins noise
+    AP_GROUPINFO("INS_THR_MIN", 62, SITL,  ins_noise_throttle_min, 0.1f),
 
     AP_GROUPEND
 
diff --git a/libraries/SITL/SITL.h b/libraries/SITL/SITL.h
index a468e8a93e..6b6c3bdaf0 100644
--- a/libraries/SITL/SITL.h
+++ b/libraries/SITL/SITL.h
@@ -108,8 +108,8 @@ public:
     // loop update rate in Hz
     uint16_t update_rate_hz;
 
-    // true when motors are active
-    bool motors_on;
+    // throttle when motors are active
+    float throttle;
 
     // height above ground
     float height_agl;
@@ -248,8 +248,10 @@ public:
     // vibration frequencies in Hz on each axis
     AP_Vector3f vibe_freq;
 
-    // hover frequency to use as baseline for adding motor noise for the gyros and accels
+    // max frequency to use as baseline for adding motor noise for the gyros and accels
     AP_Float vibe_motor;
+    // minimum throttle for addition of ins noise
+    AP_Float ins_noise_throttle_min;
 
     // gyro and accel fail masks
     AP_Int8 gyro_fail_mask;