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Remove gps noise multiplier parameter (#15108) 

This removes the gps noise multiplier parameter that can be set on the firmware side
This commit is contained in:
JaeyoungLim 2020-06-15 22:32:32 +02:00 committed by GitHub
parent 6c78c62d9d
commit 39b803a9dc
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 0 additions and 20 deletions
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1
src/modules/simulator/simulator.h
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@ -285,7 +285,6 @@ private:
DEFINE_PARAMETERS(
(ParamFloat<px4::params::SIM_BAT_DRAIN>) _param_sim_bat_drain, ///< battery drain interval
(ParamFloat<px4::params::SIM_BAT_MIN_PCT>) _param_bat_min_pct, //< minimum battery percentage
(ParamFloat<px4::params::SIM_GPS_NOISE_X>) _param_sim_gps_noise_x,
(ParamBool<px4::params::SIM_GPS_BLOCK>) _param_sim_gps_block,
(ParamBool<px4::params::SIM_ACCEL_BLOCK>) _param_sim_accel_block,
(ParamBool<px4::params::SIM_GYRO_BLOCK>) _param_sim_gyro_block,

7
src/modules/simulator/simulator_mavlink.cpp
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@ -309,13 +309,6 @@ void Simulator::handle_message_hil_gps(const mavlink_message_t *msg)
gps.satellites_used = hil_gps.satellites_visible;
gps.s_variance_m_s = 0.25f;
// use normal distribution for noise
if (_param_sim_gps_noise_x.get() > 0.0f) {
std::normal_distribution<float> normal_distribution(0.0f, 1.0f);
gps.lat += (int32_t)(_param_sim_gps_noise_x.get() * normal_distribution(_gen));
gps.lon += (int32_t)(_param_sim_gps_noise_x.get() * normal_distribution(_gen));
}
_vehicle_gps_position_pub.publish(gps);
}
}

12
src/modules/simulator/simulator_params.c
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@ -65,18 +65,6 @@ PARAM_DEFINE_FLOAT(SIM_BAT_DRAIN, 60);
*/
PARAM_DEFINE_FLOAT(SIM_BAT_MIN_PCT, 50.0f);
/**
* Simulator GPS noise multiplier.
*
* @min 0
* @max 10
* @increment 0.1
* @unit %
*
* @group SITL
*/
PARAM_DEFINE_FLOAT(SIM_GPS_NOISE_X, 0.0f);
/**
* Simulator block GPS data.
*