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SITL: added SIM_IMU_COUNT

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This commit is contained in:
Andrew Tridgell 2020-08-27 18:32:37 +10:00
parent 8373862f39
commit c16467a47f
2 changed files with 4 additions and 0 deletions
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3
libraries/SITL/SITL.cpp
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@ -249,6 +249,9 @@ const AP_Param::GroupInfo SITL::var_info3[] = {
// user settable common airspeed parameters // user settable common airspeed parameters
AP_GROUPINFO("ARSPD_SIGN", 62, SITL, arspd_signflip, 0), AP_GROUPINFO("ARSPD_SIGN", 62, SITL, arspd_signflip, 0),
// count of simulated IMUs
AP_GROUPINFO("IMU_COUNT", 36, SITL, imu_count, 2),
AP_GROUPEND AP_GROUPEND
}; };

1
libraries/SITL/SITL.h
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@ -208,6 +208,7 @@ public:
AP_Int8 telem_baudlimit_enable; // enable baudrate limiting on links AP_Int8 telem_baudlimit_enable; // enable baudrate limiting on links
AP_Float flow_noise; // optical flow measurement noise (rad/sec) AP_Float flow_noise; // optical flow measurement noise (rad/sec)
AP_Int8 baro_count; // number of simulated baros to create AP_Int8 baro_count; // number of simulated baros to create
AP_Int8 imu_count; // number of simulated IMUs to create
AP_Int32 loop_delay; // extra delay to add to every loop AP_Int32 loop_delay; // extra delay to add to every loop
AP_Float mag_scaling; // scaling factor on first compasses AP_Float mag_scaling; // scaling factor on first compasses
AP_Int32 mag_devid[MAX_CONNECTED_MAGS]; // Mag devid AP_Int32 mag_devid[MAX_CONNECTED_MAGS]; // Mag devid