SITL: record throttle value instead of motors on/off

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
 

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;