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simulator: replace gpssim with simple orb publication

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- this is one of the last pieces of the system that still depend on DriverFramework
 - add new SIM_GPS_NOISE_X parameter for optionally increasing the GPS noise multiplier (was previously a gpssim command line option)
 - add SIM_x_BLOCK parameters to block sensor publication
   - SIM_GPS_BLOCK
   - SIM_ACCEL_BLOCK
   - SIM_GYRO_BLOCK
   - SIM_MAG_BLOCK
   - SIM_BARO_BLOCK
   - SIM_DPRES_BLOCK
This commit is contained in:
Daniel Agar
2020-01-09 10:30:20 -05:00
committed by GitHub
parent faec9fe579
commit d32a80df3a
14 changed files with 126 additions and 932 deletions
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src/modules/simulator/simulator_params.c
+72 -1
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@@ -38,7 +38,6 @@
*
* @author Mohamed Abdelkader <mohamedashraf123@gmail.com>
*/
#include <parameters/param.h>
/**
* Simulator Battery drain interval
@@ -65,3 +64,75 @@ PARAM_DEFINE_FLOAT(SIM_BAT_DRAIN, 60);
* @group SITL
*/
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.
*
* Enable to block the publication of any incoming simulation GPS data.
*
* @boolean
* @group SITL
*/
PARAM_DEFINE_INT32(SIM_GPS_BLOCK, 0);
/**
* Simulator block accelerometer data.
*
* Enable to block the publication of any incoming simulation accelerometer data.
*
* @boolean
* @group SITL
*/
PARAM_DEFINE_INT32(SIM_ACCEL_BLOCK, 0);
/**
* Simulator block gyroscope data.
*
* Enable to block the publication of any incoming simulation gyroscope data.
*
* @boolean
* @group SITL
*/
PARAM_DEFINE_INT32(SIM_GYRO_BLOCK, 0);
/**
* Simulator block magnetometer data.
*
* Enable to block the publication of any incoming simulation magnetometer data.
*
* @boolean
* @group SITL
*/
PARAM_DEFINE_INT32(SIM_MAG_BLOCK, 0);
/**
* Simulator block barometer data.
*
* Enable to block the publication of any incoming simulation barometer data.
*
* @boolean
* @group SITL
*/
PARAM_DEFINE_INT32(SIM_BARO_BLOCK, 0);
/**
* Simulator block differential pressure data.
*
* Enable to block the publication of any incoming simulation differential pressure data.
*
* @boolean
* @group SITL
*/
PARAM_DEFINE_INT32(SIM_DPRES_BLOCK, 0);