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SITL: cleanup IMU parameters 

allow for biases per IMU
c415-sdk
Andrew Tridgell 4 years ago committed by Peter Barker
parent
5e60fac37e
commit
b5089580a9
4 changed files with 28 additions and 50 deletions
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  1. 28
      libraries/SITL/SITL.cpp
  2. 24
      libraries/SITL/SITL.h
  3. 13
      libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
  4. 13
      libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param

28
libraries/SITL/SITL.cpp
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@ -44,8 +44,6 @@ SITL *SITL::_singleton = nullptr; @@ -44,8 +44,6 @@ SITL *SITL::_singleton = nullptr;
// table of user settable parameters
const AP_Param::GroupInfo SITL::var_info[] = {
AP_GROUPINFO("GYR_RND", 1, SITL, gyro_noise, 0),
AP_GROUPINFO("ACC_RND", 2, SITL, accel_noise, 0),
AP_GROUPINFO("DRIFT_SPEED", 5, SITL, drift_speed, 0.05f),
AP_GROUPINFO("DRIFT_TIME", 6, SITL, drift_time, 5),
AP_GROUPINFO("ENGINE_MUL", 8, SITL, engine_mul, 1),
@ -55,20 +53,16 @@ const AP_Param::GroupInfo SITL::var_info[] = { @@ -55,20 +53,16 @@ const AP_Param::GroupInfo SITL::var_info[] = {
AP_GROUPINFO("SERVO_SPEED", 16, SITL, servo_speed, 0.14),
AP_GROUPINFO("BATT_VOLTAGE", 19, SITL, batt_voltage, 12.6f),
AP_GROUPINFO("BATT_CAP_AH", 20, SITL, batt_capacity_ah, 0),
AP_GROUPINFO("ACCEL_FAIL", 21, SITL, accel_fail, 0),
AP_GROUPINFO("SONAR_GLITCH", 23, SITL, sonar_glitch, 0),
AP_GROUPINFO("SONAR_RND", 24, SITL, sonar_noise, 0),
AP_GROUPINFO("RC_FAIL", 25, SITL, rc_fail, 0),
AP_GROUPINFO("FLOAT_EXCEPT", 28, SITL, float_exception, 1),
AP_GROUPINFO("ACC_BIAS", 30, SITL, accel_bias, 0),
AP_GROUPINFO("SONAR_SCALE", 32, SITL, sonar_scale, 12.1212f),
AP_GROUPINFO("FLOW_ENABLE", 33, SITL, flow_enable, 0),
AP_GROUPINFO("TERRAIN", 34, SITL, terrain_enable, 1),
AP_GROUPINFO("FLOW_RATE", 35, SITL, flow_rate, 10),
AP_GROUPINFO("FLOW_DELAY", 36, SITL, flow_delay, 0),
AP_GROUPINFO("WIND_DELAY", 40, SITL, wind_delay, 0),
AP_GROUPINFO("ACC2_RND", 42, SITL, accel2_noise, 0),
AP_GROUPINFO("GYR_SCALE", 44, SITL, gyro_scale, 0),
AP_GROUPINFO("ADSB_COUNT", 45, SITL, adsb_plane_count, -1),
AP_GROUPINFO("ADSB_RADIUS", 46, SITL, adsb_radius_m, 10000),
AP_GROUPINFO("ADSB_ALT", 47, SITL, adsb_altitude_m, 1000),
@ -79,7 +73,6 @@ const AP_Param::GroupInfo SITL::var_info[] = { @@ -79,7 +73,6 @@ const AP_Param::GroupInfo SITL::var_info[] = {
AP_SUBGROUPEXTENSION("", 54, SITL, var_ins),
AP_GROUPINFO("SONAR_POS", 55, SITL, rngfnd_pos_offset, 0),
AP_GROUPINFO("FLOW_POS", 56, SITL, optflow_pos_offset, 0),
AP_GROUPINFO("ACC2_BIAS", 57, SITL, accel2_bias, 0),
AP_GROUPINFO("ENGINE_FAIL", 58, SITL, engine_fail, 0),
AP_SUBGROUPINFO(shipsim, "SHIP_", 59, SITL, ShipSim),
AP_SUBGROUPEXTENSION("", 60, SITL, var_mag),
@ -136,10 +129,6 @@ const AP_Param::GroupInfo SITL::var_info2[] = { @@ -136,10 +129,6 @@ const AP_Param::GroupInfo SITL::var_info2[] = {
// optical flow sensor measurement noise in rad/sec
AP_GROUPINFO("FLOW_RND", 34, SITL, flow_noise, 0.05f),
// accel and gyro fail masks
AP_GROUPINFO("GYR_FAIL_MSK", 35, SITL, gyro_fail_mask, 0),
AP_GROUPINFO("ACC_FAIL_MSK", 36, SITL, accel_fail_mask, 0),
AP_GROUPINFO("TWIST_X", 37, SITL, twist.x, 0),
AP_GROUPINFO("TWIST_Y", 38, SITL, twist.y, 0),
AP_GROUPINFO("TWIST_Z", 39, SITL, twist.z, 0),
@ -380,6 +369,23 @@ const AP_Param::GroupInfo SITL::var_ins[] = { @@ -380,6 +369,23 @@ const AP_Param::GroupInfo SITL::var_ins[] = {
AP_SUBGROUPINFO(imu_tcal[0], "IMUT1_", 5, SITL, AP_InertialSensor::TCal),
AP_SUBGROUPINFO(imu_tcal[1], "IMUT2_", 6, SITL, AP_InertialSensor::TCal),
AP_SUBGROUPINFO(imu_tcal[2], "IMUT3_", 7, SITL, AP_InertialSensor::TCal),
AP_GROUPINFO("ACC1_BIAS", 8, SITL, accel_bias[0], 0),
AP_GROUPINFO("ACC2_BIAS", 9, SITL, accel_bias[1], 0),
AP_GROUPINFO("ACC3_BIAS", 10, SITL, accel_bias[2], 0),
AP_GROUPINFO("GYR1_RND", 11, SITL, gyro_noise[0], 0),
AP_GROUPINFO("GYR2_RND", 12, SITL, gyro_noise[1], 0),
AP_GROUPINFO("GYR3_RND", 13, SITL, gyro_noise[2], 0),
AP_GROUPINFO("ACC1_RND", 14, SITL, accel_noise[0], 0),
AP_GROUPINFO("ACC2_RND", 15, SITL, accel_noise[1], 0),
AP_GROUPINFO("ACC3_RND", 16, SITL, accel_noise[2], 0),
AP_GROUPINFO("GYR1_SCALE", 17, SITL, gyro_scale[0], 0),
AP_GROUPINFO("GYR2_SCALE", 18, SITL, gyro_scale[1], 0),
AP_GROUPINFO("GYR3_SCALE", 19, SITL, gyro_scale[2], 0),
AP_GROUPINFO("ACCEL1_FAIL", 20, SITL, accel_fail[0], 0),
AP_GROUPINFO("ACCEL2_FAIL", 21, SITL, accel_fail[1], 0),
AP_GROUPINFO("ACCEL3_FAIL", 22, SITL, accel_fail[2], 0),
AP_GROUPINFO("GYR_FAIL_MSK", 23, SITL, gyro_fail_mask, 0),
AP_GROUPINFO("ACC_FAIL_MSK", 24, SITL, accel_fail_mask, 0),
AP_GROUPEND
};

24
libraries/SITL/SITL.h
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@ -163,14 +163,6 @@ public: @@ -163,14 +163,6 @@ public:
Matrix3f ahrs_rotation;
Matrix3f ahrs_rotation_inv;
// noise levels for simulated sensors
AP_Float gyro_noise; // in degrees/second
AP_Vector3f gyro_scale; // percentage
AP_Float accel_noise; // in m/s/s
AP_Float accel2_noise; // in m/s/s
AP_Vector3f accel_bias; // in m/s/s
AP_Vector3f accel2_bias; // in m/s/s
AP_Float arspd_noise[2]; // pressure noise
AP_Float arspd_fail[2]; // airspeed value in m/s to fail to
AP_Float arspd_fail_pressure[2]; // pitot tube failure pressure in Pa
@ -213,7 +205,6 @@ public: @@ -213,7 +205,6 @@ public:
AP_Float batt_voltage; // battery voltage base
AP_Float batt_capacity_ah; // battery capacity in Ah
AP_Float accel_fail; // accelerometer failure value
AP_Int8 rc_fail; // fail RC input
AP_Int8 rc_chancount; // channel count
AP_Int8 float_exception; // enable floating point exception checks
@ -327,10 +318,6 @@ public: @@ -327,10 +318,6 @@ public:
// minimum throttle for addition of ins noise
AP_Float ins_noise_throttle_min;
// gyro and accel fail masks
AP_Int8 gyro_fail_mask;
AP_Int8 accel_fail_mask;
struct {
AP_Float x;
AP_Float y;
@ -456,6 +443,17 @@ public: @@ -456,6 +443,17 @@ public:
AP_Float imu_temp_tconst;
AP_Float imu_temp_fixed;
AP_InertialSensor::TCal imu_tcal[INS_MAX_INSTANCES];
// IMU control parameters
AP_Float gyro_noise[INS_MAX_INSTANCES]; // in degrees/second
AP_Vector3f gyro_scale[INS_MAX_INSTANCES]; // percentage
AP_Float accel_noise[INS_MAX_INSTANCES]; // in m/s/s
AP_Vector3f accel_bias[INS_MAX_INSTANCES]; // in m/s/s
AP_Float accel_fail[INS_MAX_INSTANCES]; // accelerometer failure value
// gyro and accel fail masks
AP_Int8 gyro_fail_mask;
AP_Int8 accel_fail_mask;
};
} // namespace SITL

13
libraries/SITL/examples/SilentWings/Params/Rolladen-Schneider-LS8b.param
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@ -610,15 +610,6 @@ SERVO9_MAX,1900 @@ -610,15 +610,6 @@ SERVO9_MAX,1900
SERVO9_MIN,1100
SERVO9_REVERSED,0
SERVO9_TRIM,1500
SIM_ACC_BIAS_X,0
SIM_ACC_BIAS_Y,0
SIM_ACC_BIAS_Z,0
SIM_ACC_RND,0
SIM_ACC2_BIAS_X,0
SIM_ACC2_BIAS_Y,0
SIM_ACC2_BIAS_Z,0
SIM_ACC2_RND,0
SIM_ACCEL_FAIL,0
SIM_ADSB_ALT,1000
SIM_ADSB_COUNT,-1
SIM_ADSB_RADIUS,10000
@ -666,10 +657,6 @@ SIM_GPS_NUMSATS,10 @@ -666,10 +657,6 @@ SIM_GPS_NUMSATS,10
SIM_GPS_TYPE,1
SIM_GPS2_ENABLE,0
SIM_GPS2_TYPE,1
SIM_GYR_RND,0
SIM_GYR_SCALE_X,0
SIM_GYR_SCALE_Y,0
SIM_GYR_SCALE_Z,0
SIM_IMU_POS_X,0
SIM_IMU_POS_Y,0
SIM_IMU_POS_Z,0

13
libraries/SITL/examples/SilentWings/Params/Schleicher-ASW27B.param
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@ -630,15 +630,6 @@ SERVO9_MAX,1900 @@ -630,15 +630,6 @@ SERVO9_MAX,1900
SERVO9_MIN,1100
SERVO9_REVERSED,0
SERVO9_TRIM,1500
SIM_ACC_BIAS_X,0
SIM_ACC_BIAS_Y,0
SIM_ACC_BIAS_Z,0
SIM_ACC_RND,0
SIM_ACC2_BIAS_X,0
SIM_ACC2_BIAS_Y,0
SIM_ACC2_BIAS_Z,0
SIM_ACC2_RND,0
SIM_ACCEL_FAIL,0
SIM_ADSB_ALT,1000
SIM_ADSB_COUNT,-1
SIM_ADSB_RADIUS,10000
@ -693,10 +684,6 @@ SIM_GRPS_GRAB,2000 @@ -693,10 +684,6 @@ SIM_GRPS_GRAB,2000
SIM_GRPS_PIN,-1
SIM_GRPS_RELEASE,1000
SIM_GRPS_REVERSE,0
SIM_GYR_RND,0
SIM_GYR_SCALE_X,0
SIM_GYR_SCALE_Y,0
SIM_GYR_SCALE_Z,0
SIM_IMU_POS_X,0
SIM_IMU_POS_Y,0
SIM_IMU_POS_Z,0

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