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Optionally enable airspeed sensor sim 

Enable and disable sensor sim module with parameter
This commit is contained in:
Jaeyoung Lim 2023-02-14 15:17:16 +01:00 committed by JaeyoungLim
parent 192764387d
commit 3f50bd051f
4 changed files with 24 additions and 8 deletions
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2
ROMFS/px4fmu_common/init.d-posix/airframes/4003_gz_rc_cessna
View File

@ -10,6 +10,8 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=rc_cessna}
param set-default SENS_EN_ARSPDSIM 1
param set-default EKF2_MAG_ACCLIM 0
param set-default EKF2_MAG_YAWLIM 0

2
ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
View File

@ -11,6 +11,8 @@ PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
param set-default SENS_EN_ARSPDSIM 1
# TODO: Enable motor failure detection when the
# VTOL no longer reports 0A for all ESCs in SITL
param set-default FD_ACT_EN 0

15
ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
View File

@ -80,7 +80,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
sensor_airspeed_sim start
if param compare -s SENS_EN_ARSPDSIM 1
then
sensor_airspeed_sim start
fi
else
echo "ERROR [init] gz_bridge failed to start"
@ -94,7 +97,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
sensor_airspeed_sim start
if param compare -s SENS_EN_ARSPDSIM 1
then
sensor_airspeed_sim start
fi
else
echo "ERROR [init] gz_bridge failed to start"
@ -109,7 +115,10 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
sensor_baro_sim start
sensor_gps_sim start
sensor_mag_sim start
sensor_airspeed_sim start
if param compare -s SENS_EN_ARSPDSIM 1
then
sensor_airspeed_sim start
fi
else
echo "ERROR [init] gz_bridge failed to start"

13
src/modules/simulation/sensor_airspeed_sim/parameters.c
View File

@ -32,10 +32,13 @@
****************************************************************************/
/**
* simulated GPS number of satellites used
* Enable simulated airspeed sensor instance
*
* @reboot_required true
* @min 0
* @max 50
* @group Simulator
*/
// PARAM_DEFINE_INT32(SIM_GPS_USED, 10);
* @max 1
* @group Sensors
* @value 0 Disabled
* @value 1 Enabled
*/
PARAM_DEFINE_INT32(SENS_EN_ARSPDSIM, 0);