SITL: Add parameters for sensor position offsets in body frame

libraries/SITL/SITL.cpp

@@ -83,6 +83,10 @@ const AP_Param::GroupInfo SITL::var_info[] = {
     AP_GROUPINFO("PIN_MASK",      50, SITL,  pin_mask, 0),
     AP_GROUPINFO("ADSB_TX",       51, SITL,  adsb_tx, 0),
     AP_GROUPINFO("SPEEDUP",       52, SITL,  speedup, -1),
+    AP_GROUPINFO("IMU_POS",       53, SITL,  imu_pos_offset, 0),
+    AP_GROUPINFO("GPS_POS",       54, SITL,  gps_pos_offset, 0),
+    AP_GROUPINFO("SONAR_POS",     55, SITL,  rngfnd_pos_offset, 0),
+    AP_GROUPINFO("FLOW_POS",      56, SITL,  optflow_pos_offset, 0),
     AP_GROUPEND
 };
 

libraries/SITL/SITL.h

@@ -127,6 +127,12 @@ public:
     AP_Vector3f mag_anomaly_ned; // NED anomaly vector at ground level (mGauss)
     AP_Float mag_anomaly_hgt; // height above ground where anomally strength has decayed to 1/8 of the ground level value (m)
 
+    // Body frame sensor position offsets
+    AP_Vector3f imu_pos_offset;     // XYZ position of the IMU accelerometer relative to the body frame origin (m)
+    AP_Vector3f gps_pos_offset;     // XYZ position of the GPS antenna phase centre relative to the body frame origin (m)
+    AP_Vector3f rngfnd_pos_offset;  // XYZ position of the range finder zero range datum relative to the body frame origin (m)
+    AP_Vector3f optflow_pos_offset; // XYZ position of the optical flow sensor focal point relative to the body frame origin (m)
+
     void simstate_send(mavlink_channel_t chan);
 
     void Log_Write_SIMSTATE(DataFlash_Class *dataflash);